Parameter Manual: Fanuc Ac Spindle Motor @ Series Fanuc Ac Spindle Motor # Series

FANUC AC SPINDLE MOTOR @* series
FANUC AC SPINDLE MOTOR #* series
PARAMETER MANUAL
B-65280EN/08
• No part of this manual may be reproduced in any form.
• All specifications and designs are subject to change without notice.
The products in this manual are controlled based on Japan’s “Foreign Exchange and
Foreign Trade Law”. The export from Japan may be subject to an export license by the
government of Japan.
Further, re-export to another country may be subject to the license of the government of
the country from where the product is re-exported. Furthermore, the product may also be
controlled by re-export regulations of the United States government.
Should you wish to export or re-export these products, please contact FANUC for advice.
In this manual we have tried as much as possible to describe all the various matters.
However, we cannot describe all the matters which must not be done, or which cannot be
done, because there are so many possibilities.
Therefore, matters which are not especially described as possible in this manual should be
regarded as “impossible”.
This manual contains the program names or device names of other companies, some of
which are registered trademarks of respective owners. However, these names are not
followed by ® or ™ in the main body.
The parameters described in this manual must be set correctly according to the relevant
descriptions. If the parameters are not set correctly, vibrations and unpredictable motions
can occur. When setting and updating the parameters, place top priority on safety in
operation by taking actions, such as heightening the speed step by step and performing an
operation so that an emergency stop can be initiated immediately, until the settings are
confirmed to be appropriate.
• When an abnormality such as an alarm or a hardware failure occurs, the operations
described in the specifications are not guaranteed unless otherwise specifically noted.
When action corresponding to the abnormality is specifically described, take the action.
When no action is described, please contact FANUC.
• Generally, safety functions represent functions that protect the operators from machine
danger. The signals and functions described in the specifications cannot be used
separately for the safety functions unless otherwise described as being usable for the
safety functions. Their specifications are not assumed to be used as the safety functions
in this case, an unexpected danger may be caused. For information about the safety
functions, please contact FANUC.
• A wrong device connection or setting can lead to unpredictable operation. When starting
to operate the machine for the first time after assembling the machine, replacing
components, or modifying parameter settings, exercise the greater care.
B-65280EN/08 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.
Even those matters described under "CAUTION" may lead to serious consequences depending on the
situation. Thus, be sure to observe the approved procedure.
* Read this manual carefully, and store it in a safe place.
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B-65280EN/08 PREFACE
PREFACE
This manual describes the parameters and functions of the FANUC servo amplifier αi/βi series spindle.
This manual is divided into five parts and appendix. This manual includes Part I, which provides a
description related to the αi series spindle and BiI series spindle, Part II, which provides a description
related to the βi series spindle, Part III, which provides a description related to the αCi series spindle, Part
IV, which provides a description related to the BiS series spindle, and Part V, which provides a
description related to the βiIc 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.
Product name Abbreviated model name in text Abbreviated model name in table
FANUC Series 30i Series 30i
30i
FANUC Series 0i-MODEL D Series 0i-D
16i
FANUC Series 0i-MODEL C Series 0i-C
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 AC SERVO MOTOR αis series,
FANUC AC SERVO MOTOR αi series,
FANUC AC SPINDLE MOTOR αi series,
FANUC SERVO AMPLIFIER αi series MAINTENANCE MANUAL (B-65285EN)
(7) FANUC AC SERVO MOTOR βis series,
FANUC AC SPINDLE MOTOR βi series,
FANUC SERVO AMPLIFIER βi series MAINTENANCE MANUAL (B-65325EN)
(8) FANUC AC SPINDLE MOTOR αi series
FANUC AC SPINDLE MOTOR βi series
FANUC BUILT-IN SPINDLE MOTOR Bi series PARAMETER MANUAL (B-65280EN)
(9) FANUC BUILT-IN SPINDLE MOTOR BiI series DESCRIPTIONS (B-65292EN)
(10) FANUC SYNCHRONOUS BUILT-IN SPINDLE MOTOR BiS series
DESCRIPTIONS (B-65342EN)
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B-65280EN/08 TABLE OF CONTENTS
TABLE OF CONTENTS
DEFINITION OF WARNING, CAUTION, AND NOTE .................................s-1
PREFACE ....................................................................................................p-1
I. FANUC AC SPINDLE MOTOR αi series

FANUC BUILT-IN SPINDLE MOTOR BiI series
1 START-UP............................................................................................... 3
1.1 START-UP PROCEDURE ............................................................................. 3
1.2 SPINDLE SERIAL INTERFACE (OPTIONAL FUNCTION)............................ 4
1.2.1 Parameters Related to Spindle Serial Output ...........................................................4
1.2.2 Automatic Spindle Parameter Initialization .............................................................5
1.2.3 Automatic Setting of the Parameter for Specifying the PS Control Axis.................5
1.2.4 Diagnosis (Diagnosis Screen)...................................................................................6
1.2.5 Alarm........................................................................................................................7
1.3 PARAMETERS RELATED TO DETECTORS................................................ 9
1.3.1 List of Parameters for Detectors...............................................................................9
1.3.2 Details of Parameters for Detectors........................................................................10
1.3.3 Typical Detector Configurations ............................................................................19
2 EXPLANATION OF OPERATION MODES........................................... 27

2.1 VELOCITY CONTROL MODE..................................................................... 27
2.1.1 Start-up Procedure..................................................................................................27
2.1.2 Overview ................................................................................................................27
2.1.3 System Configuration.............................................................................................27
2.1.4 List of I/O Signals (CNC↔PMC) ..........................................................................27
2.1.5 Related Parameters .................................................................................................31
2.1.6 Details of Related Parameters.................................................................................32
2.1.7 Troubleshooting .....................................................................................................41
2.2 POSITION CODER METHOD SPINDLE ORIENTATION (OPTIMUM
ORIENTATION)(OPTIONAL FUNCTION) ................................................... 45
2.2.2 Overview ................................................................................................................46
2.2.3 Transition from Conventional Method Orientation to Optimum Orientation ........46
2.2.4 Feature ....................................................................................................................47
2.2.5 Block Diagram .......................................................................................................48
2.2.7 Stop Position Specification Method .......................................................................52
2.2.8 I/O Signals (CNC↔PMC) .....................................................................................52
2.2.9 Examples of Sequences ..........................................................................................55
2.2.10 Explanation of Operation .......................................................................................57
2.2.13 Tuning Procedure ...................................................................................................70
2.2.14 Adjusting the Orientation Stop Position Shift Parameter.......................................78
2.2.15 Supplementary Descriptions...................................................................................78
2.3 RIGID TAPPING (OPTIONAL FUNCTION) ................................................. 82
2.3.2 Overview ................................................................................................................82
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TABLE OF CONTENTS B-65280EN/08
2.3.3 FSSB High-speed Rigid Tapping ...........................................................................82

2.3.3.1 Series and Edition of Applicable FSSB High-speed Rigid Tapping Software .. 83
2.3.5 List of I/O Signals (CNC↔PMC) ..........................................................................87
2.3.6 Sequence.................................................................................................................89
2.3.9 Parameter Setting Procedure ..................................................................................98
2.3.10 Adjustment Procedure ..........................................................................................105
2.3.11 Diagnosis (Diagnosis Screen)...............................................................................110
2.3.12 Alarm....................................................................................................................111
2.4 Cs CONTOURING CONTROL (OPTIONAL FUNCTION) ......................... 114
2.4.1 Start-up Procedure................................................................................................114
2.4.2 Overview ..............................................................................................................114
2.4.3 System Configuration...........................................................................................115
2.4.4 List of I/O Signals (CNC↔PMC) ........................................................................117
2.4.5 Examples of Sequences ........................................................................................119
2.4.6 Velocity Loop Gains Override Function on Cs Contouring Control Mode .........120
2.4.6.1 Series and Editions of Applicable Spindle Software ....................................... 120
2.4.6.2 Block diagram.................................................................................................. 121
2.4.7 Related Parameters ...............................................................................................121
2.4.8 Details of Related Parameters...............................................................................123
2.4.9 Adjusting Cs Contouring Control.........................................................................132
2.4.9.1 Overview ......................................................................................................... 132
2.4.9.2 Adjustment Procedure ..................................................................................... 132
2.4.9.3 Standard parameters of velocity loop gain for Cs contouring control for each
motor model..................................................................................................... 135
2.4.11 Alarm....................................................................................................................140
2.5 SPINDLE SYNCHRONOUS CONTROL (OPTIONAL FUNCTION)........... 142
2.5.2 Overview ..............................................................................................................142
2.5.4 Explanation of Operation .....................................................................................152
2.5.5 I/O Signals (CNC↔PMC) ...................................................................................153
2.5.8 Spindle Parameters for Rigid Tapping and Spindle Synchronous Control ..........161
2.5.10 Number of Error Pulses in Spindle Synchronous Control....................................171
2.5.11 Specifying a Shift Amount for Spindle Phase Synchronous Control...................172
2.5.13 Alarm....................................................................................................................172
2.6 SPECIFICATIONS COMMON TO ALL OPERATION MODES.................. 173
2.6.1 Overview ..............................................................................................................173
2.6.3 Parameters ............................................................................................................176
2.6.4 Details of Parameters............................................................................................179
3 I/O SIGNALS (CNC↔PMC) ................................................................ 191

3.1 INPUT SIGNALS (PMC→CNC→SP)......................................................... 191
3.1.1 List of Input Signals .............................................................................................192
3.1.2 Explanation of Input Signals ................................................................................192
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3.1.3 Details of Input Signals ........................................................................................194

3.2 OUTPUT SIGNALS (SP→CNC→PMC)..................................................... 204
3.2.1 List of Output Signals...........................................................................................205
3.2.2 Explanation of Output Signals .............................................................................205
3.2.3 Details of Output Signals .....................................................................................206
4 ADJUSTMENT .................................................................................... 213

4.1 VELOCITY LOOP GAIN ADJUSTMENT ................................................... 213
4.1.1 Overview ..............................................................................................................213
4.1.2 Parameters ............................................................................................................213
4.1.4 Additional Information (Position Gain Adjustment)............................................216
4.2 MACHINE RESONANCE ELIMINATION................................................... 216
4.2.1 TCMD Filter.........................................................................................................216
4.2.2 Resonance Elimination Filter ...............................................................................217
4.2.3 Disturbance Input Function ..................................................................................222
4.2.4 Adaptive Resonance Elimination Filter................................................................225
4.3 AMPLITUDE RATIO/PHASE DIFFERENCE COMPENSATION FUNCTION
................................................................................................................... 230
5 FUNCTION DESCRIPTIONS .............................................................. 235
5.1 SPEED RANGE SWITCHING CONTROL (OPTIONAL FUNCTION) ........ 235
5.1.1 Overview ..............................................................................................................235
5.1.2 Series and Editions of Applicable Spindle Software............................................235
5.1.3 Configuration .......................................................................................................235
5.1.4 Using Speed Range Switching Control ................................................................236
5.1.6 Sequence...............................................................................................................242
5.1.7 List of Related Parameters....................................................................................244
5.1.9 Parameter-specified Switching between High- and Low-speed Characteristics ..246
5.2 SPINDLE SWITCHING CONTROL ........................................................... 247
5.2.1 Overview ..............................................................................................................247
5.2.3 Configuration .......................................................................................................248
5.2.4 Details of Specifications.......................................................................................248
5.2.5 Restrictions...........................................................................................................249
5.2.7 Sequence...............................................................................................................251
5.2.10 Parameter Setting Procedure ................................................................................255
5.2.11 Supplementary Descriptions about Parameters ....................................................255
5.3 INCRMENTAL COMMAND TYPE SPINDLE ORIENTATION (SPINDLE
ROTATION SPEED CONTROL) (OPTIONAL FUNCTION) ...................... 259
5.3.1 Overview ..............................................................................................................259
5.4 CONVENTIONAL METHOD ORIENTATION (OPTIONAL FUNCTION).... 268
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5.4.1 Overview ..............................................................................................................268

5.4.3 Configuration .......................................................................................................269
5.4.5 Sequence...............................................................................................................273
5.4.8 Adjusting the Orientation Stop Position Shift Parameter.....................................278
5.4.9 Calculating the Position Gain for Orientation ......................................................278
5.4.10 Calculating the Orientation Time .........................................................................279
5.5 SPINDLE ORIENTATION DURING SPINDLE SYNCHRONIZATION
CONTROL (OPTIONAL FUNCTION) ........................................................ 281
5.5.1 Overview ..............................................................................................................281
5.5.3 Specification.........................................................................................................282
5.5.5 Sequence...............................................................................................................286
5.6 SPINDLE FINE ACC./DEC. (FAD) FUNCTION ......................................... 290
5.6.1 Overview ..............................................................................................................290
5.6.3 Block Diagram .....................................................................................................290
5.6.4 Parameters ............................................................................................................291
5.6.6 Status Errors .........................................................................................................293
5.6.7 Cautions................................................................................................................293
5.7 UNEXPECTED DISTURBANCE TORQUE DETECTION FUNCTION
(OPTIONAL FUNCTION)........................................................................... 295
5.7.1 Overview ..............................................................................................................295
5.7.6 Parameter Tuning Procedure ................................................................................297
5.8 SPINDLE EGB (SPINDLE ELECTRONIC GEAR BOX) (OPTIONAL
FUNCTION) ............................................................................................... 299
5.8.1 Overview ..............................................................................................................299
5.8.4 Block Diagram .....................................................................................................304
5.8.9 Diagnosis Signal Related to Spindle EGB ...........................................................310
5.8.10 Status Errors Related to Spindle EGB..................................................................311
5.8.11 Alarms ..................................................................................................................311
5.9 DIFFERENTIAL SPINDLE SPEED CONTROL ......................................... 312
5.9.1 Overview ..............................................................................................................312
5.9.3 Configuration .......................................................................................................312
5.9.4 Description ...........................................................................................................313
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5.9.5 I/O Signals (CNC↔PMC)....................................................................................314

5.9.9 Status Errors on Differential Spindle Speed Control ...........................................316
5.10 DUAL POSITION FEEDBACK FUNCTION (OPTIONAL FUNCTION) ...... 316
5.10.1 Overview ..............................................................................................................316
5.10.3 Block Diagram .....................................................................................................317
5.10.6 Spindle Alarm.......................................................................................................321
5.11 Velocity Tandem Control Function (OPTIONAL FUNCTION) .................... 322
5.11.1 Overview ..............................................................................................................322
5.11.6 Parameters ............................................................................................................332
5.11.7 Block Diagram for the Velocity Tandem Operation ............................................338
5.11.8 Alarm and Status Error.........................................................................................338
5.11.9 Additional Information.........................................................................................339
5.12 Tandem Disturbance Elimination Control (OPTIONAL FUNCTION).......... 351
5.12.1 Overview ..............................................................................................................351
5.12.6 Parameters ............................................................................................................358
5.12.7 Block Diagram .....................................................................................................362
5.12.8 Adjustment ...........................................................................................................363
5.13 TORQUE TANDEM CONTROL FUNCTION (OPTIONAL FUNCTION) .... 364
5.13.1 Overview ..............................................................................................................364
5.13.6 Parameters ............................................................................................................373
5.14 MAGNETIC SENSOR METHOD SPINDLE ORIENTATION (OPTIONAL
FUNCTION) ............................................................................................... 377
5.14.1 Overview ..............................................................................................................377
5.14.6 Parameters ............................................................................................................378
5.15 SPINDLE BACKLASH ACCELERATION FUNCTION (OPTIONAL
FUNCTION) ............................................................................................... 383
5.15.1 Overview ..............................................................................................................383
5.15.3 Block Diagram .....................................................................................................383
5.15.4 Parameters ............................................................................................................384
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5.15.5 Example of Adjustment........................................................................................384

5.16 HIGH-SPEED SPINDLE ORIENTATION (OPTIONAL FUNCTION).......... 388
5.16.1 Overview ..............................................................................................................388
5.16.5 Sequence...............................................................................................................392
5.16.8 Spindle Data Used in Tuning ...............................................................................400
5.16.9 Tuning Procedure .................................................................................................401
5.17 MAGNETIC FLUX BOOST FUNCTION..................................................... 407
5.17.1 Overview ..............................................................................................................407
II. FANUC AC SPINDLE MOTOR βi series

1 START-UP........................................................................................... 417
1.1 START-UP PROCEDURE ......................................................................... 417
1.2 SPINDLE SERIAL INTERFACE (OPTIONAL FUNCTION)........................ 417
1.2.1 Parameters Related to Spindle Serial Output .......................................................417
1.2.2 Automatic Spindle Parameter Initialization .........................................................417
1.2.4 Alarm....................................................................................................................418
1.3 PARAMETERS RELATED TO DETECTORS............................................ 418
1.3.1 List of Parameters for Detectors...........................................................................418
1.3.2 Details of Parameters for Detectors......................................................................418
1.3.3 Typical Detector Configurations ..........................................................................418
2 EXPLANATION OF OPERATION MODES......................................... 422

2.1 VELOCITY CONTROL MODE................................................................... 422
2.1.2 Overview ..............................................................................................................422
2.1.7 Troubleshooting ...................................................................................................422
ORIENTATION) (OPTIONAL FUNCTION) ................................................ 422
2.2.2 Overview ..............................................................................................................422
2.2.3 Transition from Conventional Method Orientation to Optimum Orientation ......423
2.2.4 Feature ..................................................................................................................423
2.2.5 Block Diagram .....................................................................................................423
2.2.7 Stop Position Specification Method .....................................................................425
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2.2.15 Supplementary Descriptions.................................................................................425
2.3 RIGID TAPPING (OPTIONAL FUNCTION) ............................................... 426
2.3.2 Overview ..............................................................................................................426
2.3.5 Sequence...............................................................................................................429
2.3.11 Alarm....................................................................................................................429
2.4.2 Overview ..............................................................................................................429
2.4.10 Alarm....................................................................................................................433
2.5.2 Overview ..............................................................................................................433
2.5.12 Alarm....................................................................................................................438
2.6.1 Overview ..............................................................................................................438
2.6.3 Parameters ............................................................................................................438
2.6.4 Details of parameters............................................................................................439

3.1 INPUT SIGNALS (PMC→CNC→SVSP).................................................... 440
3.1.3 Details of input signals .........................................................................................440
3.2 OUTPUT SIGNALS (SVSP→CNC→PMC)................................................ 440
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4 ADJUSTMENT .................................................................................... 442

4.1.1 Overview ..............................................................................................................442
4.1.2 Parameters ............................................................................................................442

5.1.1 Overview ..............................................................................................................443
5.2.1 Overview ..............................................................................................................446
5.2.4 Sequence...............................................................................................................449
5.3.1 Overview ..............................................................................................................450
5.3.3 Block Diagram .....................................................................................................450
5.3.4 Parameters ............................................................................................................450
5.3.6 Status Errors .........................................................................................................451
5.3.7 Cautions................................................................................................................451
5.4.1 Overview ..............................................................................................................451
5.5.1 Overview ..............................................................................................................452
5.5.4 Sequence...............................................................................................................454
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III. FANUC AC SPINDLE MOTOR αCi series

1 START-UP........................................................................................... 457
1.2.4 Alarm....................................................................................................................458

2.1.2 Overview ..............................................................................................................464
2.2 POSITION CODER METHOD SPINDLE ORIENTATION (OPTIONAL
FUNCTION) ............................................................................................... 477
2.2.2 Overview ..............................................................................................................477
2.2.3 Feature ..................................................................................................................477
2.3.2 Overview ..............................................................................................................484
2.3.5 Sequence...............................................................................................................487
2.3.11 Alarm....................................................................................................................497
2.4.2 Overview ..............................................................................................................498
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2.4.12 Alarm....................................................................................................................507
2.5.1 Overview ..............................................................................................................507
2.5.3 Parameters ............................................................................................................510

3.1 INPUT SIGNALS (PMC→CNC→SPMC) ................................................... 519
3.2 OUTPUT SIGNALS (SPMC→CNC→PMC) ............................................... 521
4 ADJUSTMENT .................................................................................... 523

4.1.1 Overview ..............................................................................................................523
4.1.2 Parameters ............................................................................................................523
IV. FANUC BUILT-IN SPINDLE MOTOR BiS series

1 START-UP........................................................................................... 529
1.2.3 Automatic Setting of the Parameter for Specifying the PS Management Axis ....530
1.2.5 Alarm....................................................................................................................530
1.4 SUB MODULE SM..................................................................................... 533
1.4.1 Overview ..............................................................................................................533
1.4.3 Configuration .......................................................................................................533
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1.4.5 Stop Processing When a Sub Module SM Error Occurs ......................................534
1.4.7 Caution .................................................................................................................535
1.5 POLE POSITION DETECTION ................................................................. 537
1.5.1 Overview ..............................................................................................................537
1.5.2 Pole Position Detection Operation .......................................................................538
1.5.3 AMR Offset Function...........................................................................................540
1.5.6 Sequence...............................................................................................................549
1.5.7 Causes of Spindle Alarm 65 .................................................................................550
1.5.8 Cautions................................................................................................................551

2.1.2 Overview ..............................................................................................................552
2.2.2 Overview ..............................................................................................................560
2.2.3 Transition from Conventional Method Orientation to Optimum Orientation ......560
2.2.4 Feature ..................................................................................................................560
2.2.5 Block Diagram .....................................................................................................560
2.2.15 Supplementary Descriptions.................................................................................562
2.3.2 Overview ..............................................................................................................562
2.3.5 Sequence...............................................................................................................563
2.3.11 Alarm....................................................................................................................573
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2.4.2 Overview ..............................................................................................................573

2.4.9 Adjusting Cs Contouring Control.........................................................................582
2.4.11 Alarm....................................................................................................................582
2.5.2 Overview ..............................................................................................................583
2.5.12 Alarm....................................................................................................................591
2.6.1 Overview ..............................................................................................................592
2.6.3 Parameters ............................................................................................................595
2.6.4 Details of Parameters............................................................................................598

3.1 INPUT SIGNALS (PMC→CNC→SP)......................................................... 609
3.2 OUTPUT SIGNALS (SP→CNC→PMC)..................................................... 614
4 ADJUSTMENT .................................................................................... 618

4.1.1 Overview ..............................................................................................................618
4.1.2 Parameters ............................................................................................................618
4.2 MACHINE RESONANCE ELIMINATION................................................... 618
4.2.1 TCMD Filter.........................................................................................................618
4.2.2 Resonance Elimination Filter ...............................................................................618
4.2.3 Disturbance Input Function ..................................................................................619
4.2.4 Adaptive Resonance Elimination Filter................................................................619
4.3 AMPLITUDE RATIO/PHASE DIFFERENCE COMPENSATION FUNCTION
................................................................................................................... 619
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5.1 SPEED RANGE SWITCHING CONTROL (OPTIONAL FUNCTION) ........ 620
5.2 SPINDLE SWITCHING CONTROL ........................................................... 620
5.3.1 Overview ..............................................................................................................620
5.4.1 Overview ..............................................................................................................622
5.4.5 Sequence...............................................................................................................624
5.5 SPINDLE ORIENTATION DURING SPINDLE SYNCHRONOUS CONTROL
5.5.1 Overview ..............................................................................................................624
5.5.3 Specification.........................................................................................................625
5.5.5 Sequence...............................................................................................................626
5.6.1 Overview ..............................................................................................................627
5.6.3 Block Diagram .....................................................................................................628
5.6.4 Parameters ............................................................................................................628
5.6.6 Status Errors .........................................................................................................628
5.6.7 Cautions................................................................................................................628
5.7.1 Overview ..............................................................................................................628
5.8 SPINDLE EGB (SPINDLE ELECTRONIC GEAR BOX) (OPTIONAL
FUNCTION) ............................................................................................... 630
5.8.1 Overview ..............................................................................................................630
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5.8.4 Block Diagram .....................................................................................................632
5.8.9 Diagnosis Signal Related to Spindle EGB ...........................................................634
5.8.10 Status Errors Related to Spindle EGB..................................................................634
5.8.11 Alarms ..................................................................................................................634
5.9 DIFFERENTIAL SPINDLE SPEED CONTROL ......................................... 634
5.10 DUAL POSITION FEEDBACK FUNCTION (OPTIONAL FUNCTION) ...... 634
5.11 SPEED TANDEM CONTROL FUNCTION (OPTIONAL FUNCTION)........ 635
5.11.1 Overview ..............................................................................................................635
5.11.6 Parameters ............................................................................................................636
5.11.7 Block Diagram for the Speed Tandem Operation ................................................636
5.11.9 Additional Information.........................................................................................636
5.12 TANDEM RESONANCE ELIMINATION (OPTIONAL FUNCTION) ........... 636
5.12.1 Overview ..............................................................................................................636
5.12.6 Parameters ............................................................................................................637
5.12.7 Block Diagram .....................................................................................................637
5.12.8 Adjustment ...........................................................................................................637
5.13 TORQUE TANDEM CONTROL FUNCTION (OPTIONAL FUNCTION) .... 637
5.14 MAGNETIC SENSOR METHOD SPINDLE ORIENTATION (OPTIONAL
FUNCTION) ............................................................................................... 637
5.15 SPINDLE BACKLASH ACCELERATION FUNCTION (OPTIONAL
FUNCTION) ............................................................................................... 637
5.15.1 Overview ..............................................................................................................637
5.15.3 Block Diagram .....................................................................................................638
5.15.4 Parameters ............................................................................................................638
5.15.5 Example of Adjustment........................................................................................638
5.16.1 Overview ..............................................................................................................638
5.16.4 Sequence...............................................................................................................639
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V. FANUC SPINDLE MOTOR βiIc series

1 START-UP........................................................................................... 643
1.2.2 Spindle Parameter Initialization ...........................................................................644
1.2.4 Alarm....................................................................................................................644

2.1.2 Overview ..............................................................................................................647
2.2.2 Overview ..............................................................................................................648
2.2.3 Feature ..................................................................................................................648
2.3.2 Overview ..............................................................................................................649
2.3.5 Sequence...............................................................................................................650
2.3.11 Alarm....................................................................................................................651
2.4.1 Overview ..............................................................................................................651
2.4.3 Parameters ............................................................................................................652
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3.1 INPUT SIGNALS (PMC→CNC→βiSVSPc) ............................................... 655
3.2 OUTPUT SIGNALS (βiSVSPc→CNC→PMC) ........................................... 656
4 ADJUSTMENT .................................................................................... 658

4.1.1 Overview ..............................................................................................................658
4.1.2 Parameters ............................................................................................................658
APPENDIX
A SPINDLE PARAMETER TABLE......................................................... 663
A.1 αi SERIES SPINDLE PARAMETER TABLE ............................................. 663
A.2 αCi SERIES SPINDLE PARAMETER TABLE ........................................... 679
A.3 BiS SERIES SPINDLE PARAMETER TABLE ........................................... 683
A.4 βiIc SERIES SPINDLE PARAMETER TABLE........................................... 690
B LIST OF SPINDLE PARAMETER NUMBERS.................................... 695

C PARAMETER TABLE FOR EACH MOTOR MODEL ......................... 702
C.1 SPINDLE MOTOR αiI series ..................................................................... 703
C.2 SPINDLE MOTOR αiIp series ................................................................... 708
C.3 SPINDLE MOTOR αiIT series ................................................................... 710
C.4 SPINDLE MOTOR αiIL series ................................................................... 713
C.5 SPINDLE MOTOR αiI series (400V) ......................................................... 714
C.6 SPINDLE MOTOR αiIP series (400V) ....................................................... 717
C.7 SPINDLE MOTOR αiIT series (400V)........................................................ 718
C.8 SPINDLE MOTOR αiIL series (400V) ....................................................... 720
C.9 SPINDLE MOTOR βiI series ..................................................................... 721
C.10 SPINDLE MOTOR βiIP series ................................................................... 724
C.11 SPINDLE MOTOR βiIc series .................................................................... 726
C.12 SPINDLE MOTOR αCi series.................................................................... 727
D LISTS OF ALARMS/STATE ERRORS ............................................... 728

D.1 LIST OF SPINDLE ALARMS ..................................................................... 728
D.2 LIST OF SPINDLE STATE ERRORS ........................................................ 731
E TABLE OF I/O SIGNALS RELATED TO SPINDLE CONTROL ......... 735
E.1 αi SERIES SPINDLE ................................................................................. 735
E.1.1 Input Signals (PMC→CNC).................................................................................735
E.1.2 Output Signals (CNC→PMC)..............................................................................737
c-16
E.2 αCi SERIES SPINDLE .............................................................................. 740

E.3 BiS SERIES SPINDLE .............................................................................. 743
F OBSERVING DATA USING THE SERVO GUIDE .............................. 749

F.1 SERIES AND EDITIONS OF APPLICABLE SPINDLE SOFTWARE......... 749
F.2 SPINDLE DATA THAT CAN BE OBSERVED USING THE SERVO GUIDE
................................................................................................................... 749
F.2.1 Data List ...............................................................................................................749
F.2.2 About the Spindle Speed Control and Spindle Status Signals .............................751
F.3 EXAMPLE OF OBSERVING DATA ........................................................... 752
G PARAMETER SPECIFICATION DIFFERENCES BETWEEN THE αi
SERIES AND αCi SERIES.................................................................. 758
G.1 PARAMETERS WITH DIFFERENT MEANINGS....................................... 758
H PARAMETER SPECIFICATION DIFFERENCES BETWEEN THE αi
SERIES AND BiS SERIES.................................................................. 760
H.1 PARAMETERS WITH DIFFERENT MEANINGS....................................... 760
c-17
I. FANUC AC SPINDLE MOTOR αi series
FANUC BUILT-IN SPINDLE MOTOR BiI
series
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 1.START-UP
1 START-UP
1.1 START-UP PROCEDURE
A. Check the spindle-related specifications.
- CNC model
- Spindle motor
- Power supply (PS)
- Spindle amplifier
- 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 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).)
-3-
1.START-UP FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
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
(d) For Series 0i
“FANUC Series 0i-MODEL C CONNECTION MANUAL (FUNCTION) : B-64113EN-1
(e) For Series 30i/31i/32i-B
(f) For Series 0i -D
“FANUC Series 0i-MODEL D CONNECTION MANUAL (FUNCTION) : B-64303EN-1
Parameter No.
15i 16i 30i Description
⎯ 3701#1 ⎯ Whether to use the serial interface

(Set 0.)
⎯ ⎯ 3716#0 Selection of a spindle (analog/serial)
(Set 1.)
5606#0 ⎯ ⎯ Selection of an interface (serial/analog)
(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.
-4-
1.2.2 Automatic Spindle Parameter Initialization

NOTE
When automatic spindle parameter initialization is performed, the parameter
settings that have already been adjusted (such as sensor settings and orientation
stop positions) are also initialized. To prevent the adjusted parameter settings
from being initialized, do not perform automatic initialization.
(1) Parameter list

Parameter No.
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.
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.
⎯ 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.
1.2.3 Automatic Setting of the Parameter for Specifying the PS

Control Axis
* To use the 30i-B series SP, the following operation is required.
For the power supply (PS) for the 30i-B series, control is now performed by software. On the CNC, this
allows you to know power information. Since the PS cannot communicate with the CNC directly, power
information is transferred to the CNC through an SV or SP called a PS control axis.
-5-
(The PS control axis refers to an SV or SP connected in the closest vicinity of the PS in the amplifier
connection using CXA2x connectors.)
Power電源情報
information Power information
電源情報
Common C C Servo/ C C C C
共通 X X サーボ/
spindle X X Servo/
サーボ/ X X Servo/
サーボ/
power
電源
A
2
A
2
amplifier
スピンドル A
2
A
2 スピンドル
spindle
A
2
A
2 スピンドル
spindle
PS control
supply
（PS） A B アンプ
axis
A B アンプ
amplifier
A B アンプ
amplifier
(PS) PS管理軸
Amplifier group
アンプグループ "1" "1"
Power電源情報
information Power information
電源情報
spindle X X Servo/
サーボ/ X X Servo/
サーボ/
power A A
スピンドル A A
スピンドル A A
スピンドル
電源
supply
2 2
amplifier
PSアンプ
control
2 2 spindle 2 2 spindle C
（PS） A B A B アンプ A B アンプ
(PS)
axis amplifier amplifier N
PS管理軸
C
Amplifier group
アンプグループ "2" "2"
Power電源情報
information Power電源情報
information
spindle X X サーボ/
Servo/ X X Servo/
サーボ/
power
電源
A A
スピンドル
amplifier A A
スピンドル A A
スピンドル
2 2
PS control
2 2 spindle 2 2 spindle
supply
（PS） A B アンプ A B アンプ A B アンプ
axis amplifier amplifier
(PS) PS管理軸
Amplifier
アンプグループ group "N"
"N"
To enable the CNC software to recognize the PS control axis, an amplifier group number must be set in
one of the following parameters:
Parameter No. 2557 when the PS control axis is an SV
Parameter No. 4657 when the PS control axis is an SP
The parameters can be set automatically by following the procedure below.
* If the amplifier configuration is changed, an invalid PS control axis specification alarm occurs
immediately after CNC start-up. Perform automatic setting again.
<1> Set the relevant parameter to enable automatic PS control axis setting.
Parameter No.
30i-B Description
11549#0 1
NOTE
This bit is reset to its original value after automatic setting.
<2> Turn the CNC off, then on again. Then, the PS control axis parameter is automatically set.
1.2.4 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.

-6-

(c) For Series 15i
(d) For Series 0i
(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
(3) For Series 15i

Address Description
1.2.5 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.

(c) For Series 15i
(d) For Series 0i
-7-

(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
SP0229 ⎯
(between motor numbers 1 and 2 or between motor numbers 3 and 4).
A communication error occurred in communication between serial spindle amplifiers
⎯ SP1229
(between an odd-numbered amplifier and even-numbered amplifier).
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)
-8-
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 or JYA3
(αiM sensor, αiMZ sensor, αiBZ sensor of a built-in motor, αiCZ sensor
(analog, serial) of a built-in motor)
(ii) Spindle sensor :
Detector connected to connector JYA3 or JYA4
(αi position coder, α position coder S, separate αiBZ sensor, separate αiCZ
sensor (analog, serial), 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
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.)
3172 4172 4172 Numerator of arbitrary gear ratio between motor sensor and 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
-9-
Parameter No.
Description
15i 16i 30i
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.)
3501 4501 4501 Numerator of arbitrary gear ratio between spindle sensor and spindle
3503 4503 4503 (This data is selected by spindle control input signal CTH1A.)
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.

Refer to Section 9.3, “SPINDLE SPEED CONTROL.”
(c) For Series 15i
(d) For Series 0i
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
- 10 -
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).
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 αi position coder
0 0 1 1 Separate αiBZ sensor, αiCZ sensor (analog)
0 1 0 0 α position coder S
0 1 1 0 Separate αiCZ sensor (serial)
Separate αiBZ sensor, αiCZ sensor (analog)
1 1 1 0 [Setting for detecting the one-rotation signal
at less than 10 min-1 (*3)]
NOTE
1 When using a rectangular wave phase A/B, 1024-p/rev position
coder, set the same settings as for the αi position coder (0,0,1,0).
2 It is not possible to use the αiCZ sensor (serial) as both motor
sensor and spindle sensor.
3 When this setting is made in combination with the setting for
detecting the one-rotation signal regardless of the spindle speed
(bit 2 of parameter No. 4394 =1), the one-rotation signal can be
detected at less than 10 min-1.
However, the position at which to detect the one-rotation signal
varies with a change in the temperature of the sensor. Usually, set
0,0,1,1. Refer to “FANUC SERVO AMPLIFIER αi series
Descriptions” (B-65282EN) for information about the extent to
which the position at which to detect the one-rotation signal varies.
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 the

PCPL2 PCPL1 PCPL0 PCTYPE
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
- 11 -
NOTE
1 Set “0, 0, 0, 0” when using an αi 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.
3 When the number of αi BZ sensor teeth is 96 λ/rev, 192 λ/rev, 640
λ/rev, 768 λ/rev, or 1024 λ/rev, set 0,0,0 in this parameter, and set
the number of teeth in the parameter specifying an arbitrary number
of spindle sensor teeth (parameter No. 4361).
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).
RFTYPE EXTRF External one-rotation signal (proximity switch)

0 0 None
0 1 Detects the leading edge.
1 1 Detects the trailing edge.
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”, spindle alarms 27 (Position coder signal disconnection), 73
(Motor sensor disconnection), and 84 (Spindle sensor disconnection) are checked.
- 12 -
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.
3 If dual check safety function is enabled, this parameter is invalid
and disconnection detection is performed.
4 Set it to "0" when using the αiCZ sensor (serial). Setting it to "1"
results in a spindle state error (error 43).
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”, spindle alarms 41, 42, 47, 81, 82, 83, 85, 86, and 87 are
checked.
NOTE
Set it to "0" when using the αiCZ sensor (serial). Setting it to "1"
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 or JYA3).
MSTYP2 MSTYP1 MSTYP0 Motor sensor type

0 0 0 αiM sensor
0 0 1 αiMZ sensor, αiBZ sensor, αiCZ sensor (analog)
0 1 1 αiCZ sensor (serial)
αiMZ sensor, αiBZ sensor, αiCZ sensor (analog)
1 1 1 [Setting for detecting the one-rotation signal at
less than 10 min-1 (*3)]
- 13 -
NOTE
1 It is not possible to use the αiCZ sensor (serial) as both motor
sensor and spindle sensor.
2 If the αiCZ sensor (serial) is used as the motor sensor, it is not
possible to use the following:
- αi position coder
- External one-rotation signal (proximity switch)
3 When this setting is made in combination with the setting for
detecting the one-rotation signal regardless of the spindle speed (bit
2 of parameter No. 4394 =1), the one-rotation signal can be
detected at less than 10 min-1.
However, the position at which to detect the one-rotation signal
varies with a change in the temperature of the sensor. Usually, set
0,0,1. Refer to “FANUC SERVO AMPLIFIER αi series Descriptions”
(B-65282EN) for information about the extent to which the position
at which to detect the one-rotation signal varies.
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 or JYA3).
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
1 When using a sensor with αiCZ sensor (analog, serial) 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).
2 When the number of αi BZ sensor teeth is 96 λ/rev, 640 λ/rev, 768
λ/rev, or 1024 λ/rev, set 0,0,0 in this parameter, and set the
number of teeth in the parameter specifying an arbitrary number of
motor sensor teeth (parameter No. 4334).
Motor models and corresponding αiM and αiMZ sensors

Number of gear teeth of the detection ring on the αiM or αiMZ
Motor model
sensor
αiI0.5 64λ/rev
αiI1 to αiI3 128λ/rev
αiI6 to αiI50
256λ/rev
αiIP12 to αiIP60
- 14 -
WARNING
If the gear tooth number setting of the motor sensor is not correct,
the spindle motor may rotate at a high speed above the specified
speed. Check the gear tooth number of the motor sensor and set it
correctly.
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).
1 : Detects alarms.
When this bit is set to “1”, Spindle alarms 81, 82, 85, and 86 are checked.
NOTE
RFCHK2 Determines whether to detect the alarm related to threading position detection signal
feedback (spindle alarm 46).
1 : Detects alarms.
NOTE
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.
NOTE
If the αiCZ sensor (serial) is used, this parameter is invalid.
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.
- 15 -
NOTE
1 This parameter is valid with 9D50 series E (05) edition or later,
9D70 series A (01) edition or later, 9D80 series A (01) edition or
later, 9D90 series A (01) edition or later, and 9DA0 series A (01)
edition or later.
2 This parameter is enabled when the spindle sensor is an αi position
coder or α position coder S.
3 When the spindle sensor is the αiMZ, αiBZ, or αiCZ sensor
(analog), and if the sensor type (bits 2, 1, 0 of parameter No. 4010 =
1, 1, 1 for the motor sensor or bits 3, 2, 1, 0 of parameter No. 4002
= 1, 1, 1, 0 for the spindle sensor) is set in combination with this
parameter, the one-rotation signal is detected regardless of the
spindle speed.
4 When the spindle sensor is the αiCZ sensor (serial), the
one-rotation signal is detected regardless of the setting of this
parameter and the spindle speed.
A21DEN Whether to detect the spindle sensor polarity erroneous setting alarm (spindle 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,
edition or later.
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).
- 16 -
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

Unit of data : 1min-1 (Unit of 10 min-1 when bit 2 (SPDUNT) of parameter No. 4006 = 1)
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
1 Usually, set “0”.
2 If the αiCZ sensor (serial) is used, this parameter is invalid.
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 :
These parameters set conversion coefficients (numerator, denominator) for using the
detection arbitrary gear ratio function (DMR function) by multiplying a motor sensor
(αiM or αiMZ 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
1 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.
2 If the αi CZ sensor (serial) is used, this parameter is invalid.
15i 16i 30i

3334 4334 4334 Arbitrary number of motor sensor teeth
- 17 -
Unit of data : 1λ/rev (Number of motor sensor teeth)

Valid data range : 0, 32 to 4096
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.
WARNING
If the gear tooth number setting of the motor sensor is not correct,
the spindle motor may rotate at a high speed above the specified
speed. Check the gear tooth number of the motor sensor and set it
correctly.
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
These parameters set an amplitude ratio compensation value for the sensor feedback
signal (phase A/B of the sinusoidal wave).
For details, refer to Section 4.3, “AMPLITUDE RATIO/PHASE DIFFERENCE
COMPENSATION FUNCTION” in Part I.
NOTE
If the αi CZ sensor (serial) is used, this parameter is invalid.
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%
These parameters set a phase difference compensation value for the sensor signal (phase
A/B of the sinusoidal wave).
For details, refer to Section 4.3, “AMPLITUDE RATIO/PHASE DIFFERENCE
COMPENSATION FUNCTION” in Part I.
NOTE
If the αi CZ sensor (serial) is used, this parameter is invalid.
15i 16i 30i

3361 4361 4361 Arbitrary number of spindle sensor teeth
Unit of data : 1λ/rev (Number of spindle sensor teeth)

When the number of spindle sensor teeth is other than 64, 128, 256, 384, 512, and 1024
set this parameter.
- 18 -
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.
15i 16i 30i

Denominator of arbitrary gear ratio between spindle sensor and spindle
3500 4500 4500 (HIGH) CTH1A=0
Numerator of arbitrary gear ratio between spindle sensor and spindle (HIGH)
3501 4501 4501 CTH1A=0
Denominator of arbitrary gear ratio between spindle sensor and spindle (LOW)
3502 4502 4502 CTH1A=1
Numerator of arbitrary gear ratio between spindle sensor and spindle (LOW)
3503 4503 4503 CTH1A=1
Unit of data :
detection arbitrary gear ratio function (DMR function) by multiplying a spindle sensor
(αi position coder, α position coder S, separate αiBZ sensor, or separate αiCZ sensor
(analog) ) feedback signal by a gear ratio to produce a spindle position feedback signal.
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,
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.
3 If the αi CZ sensor (serial) is used, this parameter is invalid.
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]
- 19 -
Spindle motor with built-in

αiM sensor
JYA2 Spindle
SP
TYPE A
Parameter No. Settings Description

4002 #3,2,1,0 0,0,0,0 Does not exercise position control.
4010 #2,1,0 Depends on the detector. Sets the type of motor sensor.
4011 #2,1,0 Depends on the detector. Sets the number of motor sensor gear teeth.
(2) When the αi position coder is used

Spindle motor with built-in αiM
(or αiMZ sensor)
JYA2 Spindle
αi position coder
SP
TYPE A
JYA3
Directly connected or connected with a gear or
timing belt at a ratio of 1:1

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

- 20 -
Spindle motor with built-in αiM sensor

(or αiMZ sensor)
JYA2 Spindle
α position coder S
SP
TYPE B
JYA4
Directly connected or connected with a gear or timing
belt at a ratio of 1:1

Depends on the
configuration.
Depends on the
configuration.
4002 #3,2,1,0 0,1,0,0 Uses the α position coder S as the spindle sensor.
Depends on the
configuration.
(4) When the αiMZ, αiBZ, or αiCZ sensor (analog) is used

[Sample system configuration 1]
JYA2
αiMZ sensor
SP
Spindle
TYPE A

αiBZ sensor or αiCZ sensor
Spindle +
built-in motor
JYA2
SP
TYPE A
- 21 -

αiMZ sensor
JYA2 Spindle
SP
TYPE A


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.
Uses the αiMZ , αiBZ, or αiCZ sensor (analog) as the motor
4010 #2,1,0 0,0,1
sensor.
Depends on the
4011 #2,1,0 Sets the number of motor sensor gear teeth.
detector.
Gear ratio between the spindle and motor
4056 to 4059 100 or 1000
1:1
(5) When the αiCZ sensor (serial) is used

αiCZ sensor (serial)

SP
TYPE A
Detection Spindle +
circuit built-in motor
JYA3
Thermistor

4007 #5 0 Feedback signal disconnection detection is enabled.
4007 #6 0 Alarms related to position feedback signals are enabled.
4010 #2,1,0 0,1,1 Uses the αiCZ sensor (serial) as the motor sensor.
4011 #2,1,0 Depends on the detector. Sets the number of motor sensor gear teeth.(For 512λ/rev)
Alarms related to threading position feedback signals are
4016 #6 1
enabled.
4056~4059 100 or 1000 Gear ratio between the spindle and motor 1 : 1
Sets the number of motor sensor gear teeth.(For
4334 Depends on the detector.
768λ/rev、1024λ/rev)
- 22 -
NOTE
When using the αiCZ sensor (serial), use spindle software of the following series
and editions:
- 9D80 series E (05) edition or later, 9D90 series A (01) edition or later, or 9DA0
series A (01) edition or later when the number of teeth is 512 λ or 1024 λ
- 9D80 series F (06) edition or later, 9D90 series A (01) edition or later, or 9DA0
series A (01) edition or later when the number of teeth is 768 λ
(6) When the separate type αiBZ sensor or separate type αiCZ sensor
(analog) is used
sensor (or αiMZ sensor)
JYA2 Spindle
SP
TYPE B
JYA4 αiBZ sensor or αiCZ sensor (analog)

Depends on the
configuration.
Depends on the
configuration.
Uses the αiBZ sensor or αiCZ sensor (analog) as the
4002 #3,2,1,0 0,0,1,1
spindle sensor.
4003 #7,6,5,4 Depends on the detector. Sets the number of spindle sensor gear teeth.
Depends on the
configuration.
(7) When the separate type αiCZ sensor (serial) is used

- 23 -

JYA2
SP
TYPE A
Detection
Spindle
circuit
JYA3

Depends on the Rotation directions of the spindle and motor
4000 #0
configuration.
Depends on the Spindle sensor mounting direction
4001 #4
configuration.
4002 #3,2,1,0 0,1,1,0 Uses the αiCZ sensor (sensor) as the spindle sensor.
Alarms related to position feedback
4007 #6 0
signals are enabled.
Alarms related to threading position feedback signals are
4016 #6 1
enabled.
Depends on the Gear ratio between the spindle and motor
4056~4059
configuration.
NOTE
and editions:
- 9D80 series E (05) edition or later, 9D90 series A (01) edition or later, or 9DA0
series A (01) edition or later when the number of teeth is 512 λ or 1024 λ
- 9D80 series F (06) edition or later, 9D90 series A (01) edition or later, or 9DA0
series A (01) edition or later when the number of teeth is 768 λ
(8) When the external one-rotation signal (proximity switch) is used

- 24 -

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

JYA3

Depends on the
configuration.
4004 #2 1 Uses the external one-rotation signal.
4004 #3 Depends on the detector. Sets the external one-rotation signal type.
Depends on the
configuration.
Depends on the
4171 to 4174 Arbitrary gear ratio between the motor sensor and spindle
configuration.
(9) When the axis on which the spindle sensor is mounted is not the spindle
αiM sensor
Gear or
timing belt
JYA2 Medial
axis
SP αi position coder
TYPE A
JYA3 Directly connected or connected Spindle

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

Depends on the
configuration.
Depends on the
configuration.
Depends on the
4002 #3,2,1,0 Type of spindle sensor
configuration.
4010 #2,1,0 0, 0, 0 Uses the αiM sensor as the motor sensor.
- 25 -

Alarms related to positional feedback signals (in non-Cs
4007 #6 1
mode) are not detected.
Alarms related to positional feedback signals (in Cs mode)
4016 #5 0
are not detected.
Depends on the
configuration.
Depends on the Arbitrary gear ratio between the spindle sensor and
4500 to 4503
configuration. spindle
NOTE
Those functions such as the orientation function that require a one-rotation signal
cannot be used.
- 26 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
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”.
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.
- 27 -
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08

(c) For Series 15i
(d) For Series 0i
(e) For Series 30i/31i/32 -B
(f) For Series 0i-D
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.
(b) Series 30i

#7 #6 #5 #4 #3 #2 #1 #0
(*1) (*1) (*1) (*1)

NOTE
- 28 -
(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
(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.
- 29 -
(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)
F037 R12O R11O R10O R09O
NOTE
(c) Series 15i

#7 #6 #5 #4 #3 #2 #1 #0
Common to F008 SF
all axes
Common to F020 S7 S6 S5 S4 S3 S2 S1 S0
all axes
all axes
all axes
all axes
Common to F045 SRSRDY
all axes
1st- F010 RO7A RO6A RO5A RO4A RO3A RO2A RO1A RO0A
2nd- F320 RO7B RO6B RO5B RO4B RO3B RO2B RO1B RO0B
1st- F014 MR7A MR6A MR5A MR4A MR3A MR2A MR1A MR0A
2nd- F324 MR7B MR6B MR5B MR4B MR3B MR2B MR1B MR0B
1st- F234 SSPD7A SSPD6A SSPD5A SSPD4A SSPD3A SSPD2A SSPD1A SSPD0A
2nd- F250 SSPD7B SSPD6B SSPD5B SSPD4B SSPD3B SSPD2B SSPD1B SSPD0B
1st- F341 SRRDYA

2nd- F342 SRRDYB
- 30 -
(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
2nd- F245 F049 F049 TLMB LDT2B LDT1B SARB SDTB SSTB
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
⎯ 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)
⎯ 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#7 4012#7 4012#7 Sets the spindle HRV function. (Set “1”.)
5607#0 4019#7 4019#7 Automatic spindle parameter setting function
- 31 -
Parameter No.
Description
15i 16i 30i
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 Torque limitation value
3026 4026 4026 Load detection level 1
3028 4028 4028 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
3056 to Spindle and motor gear ratio data
4056 to 4059 4056 to 4059
3059 (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 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.)
3399#2 4399#2 4399#2 Specifies whether to enable the soft start/stop function when emergency
stop operation is performed.
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.
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.
(c) For Series 15i
(d) For Series 0i
- 32 -

(f) For Series 0i-D
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
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
SPHRV Sets the spindle HRV control function.

0 : Disables spindle HRV control.
1 : Enables spindle HRV control. (standard setting value)
Set to “1”.
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.
- 33 -
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.
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

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

Unit of data : 0.1%

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

Unit of data : 0.1%

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

Unit of data : 0.01%

- 34 -

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%
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 set in this
0 1
parameter.
1 0 The torque is limited to a half of the value set in this
1 1 parameter.
15i 16i 30i

Unit of data : 1%
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

Unit of data : 1%
15i 16i 30i

Unit of data :
Select an appropriate pattern from the following:
- 35 -
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)
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 and
1 4 7
deceleration time.
B. Output is not limited at acceleration time and
deceleration time, but output is limited in 2 5 8
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
Pm Catalog value
Pout Limit value
0 Speed
0 Nb Nm

Pout = × Pm
100
- 36 -

Output
Pm Catalog value
Limit value
0 Speed
0 Nb Nout Nm
100
Nout = × Nb
15i 16i 30i

Unit of data : 1%
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

Unit of data : 1min-1/sec (Unit of 10min-1/sec when bit 2 (SPDUNT) of parameter No. 4006 = 1)
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 :
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
- 37 -
Unit of data :
This data is used to set the velocity loop integral gain on velocity control mode.
15i 16i 30i


Example :
When the spindle rotates once, set “250” as the data when the motor rotates 2.5
times.
Set the gear or clutch status to correspond to the clutch/gear signal (CTH1A, CTH2A).
NOTE
proper gear ratio.
15i 16i 30i

Unit of data : 10ms

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

- 38 -
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 (spindle 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 (spindle 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
3136 4136 4136 Motor voltage setting on velocity control mode (for low-speed characteristics)
Unit of data : 1%
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
3173 4173 4173 (LOW) CTH1A=1
3174 4174 4174 (LOW) CTH1A=1
Unit of data :
(αiM sensor) feedback signal by a gear ratio to produce a spindle position feedback
signal.
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.
- 39 -
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.
15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3399 4399 4399 SOSALW
SOSALW When the motor rotation operation is quitted *),

0: the acc./dec. by soft start/stop is not executed. (Standard setting)
1: the acc./dec. by soft start/stop is executed.
When this bit is 1 and the acceleration setting for soft start/stop is valid (parameter No.
4030 ≠ 0 and SOCNA = 1), deceleration is performed at the acceleration for soft
start/stop (parameter No. 4030) if the motor rotation operation is quitted by an emergency
stop or the like.
*) “Quitting the motor rotation operation” refers to any of the following operations:
- Input of emergency stop signal
- Input of external reset signal
- Input of reset and rewind signal
- In put of reset signal from MDI
- Release of axis selection signal
NOTE
1 This parameter is valid with 9D50 series O (15) edition or later,
9D70 series F (06) edition or later, 9D80 series A (01) edition or
edition or later.
2 Quitting a reference position return operation for Cs contouring
control or rigid tapping is supported in 9D5A series J (10) edition or
later, 9D53 series W (23) edition or later, 9D70 series X (24) edition
or later, 9D80 series U (21) edition or later, 9D90 series F (06)
edition or later, and 9DA0 series I (09) edition or later.
15i 16i 30i

Unit of data : 10min-1/sec2

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).
- 40 -
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,
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
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
(iii) When the motor vibrates and makes an abnormal sound when rotating
(iv) When an overshoot or hunting occurs
(v) When the cutting capability is degraded
(vi) When the acceleration/deceleration time is long

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

(a) Parameter data for each motor model
(b) Detector-related parameter data (Refer to Subsection 1.3.2, “Details of Parameters for
Detectors”, in Part I)
- 41 -
(c) Setting of a 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
“FANUC Series 30i/31i/32i-MODEL A
For Series 15i
“FANUC Series 15i-MODEL B
For Series 0i
“FANUC Series 0i-MODEL C
For Series 30i/31i/32i-B
For Series 0i-D
“FANUC Series 0i-MODEL D
(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.)

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

- 42 -
(b) Detector-related parameter data (Refer to Subsection 1.3.2, “Details of Parameters for
Detectors”, in Part I)


For Series 15i
For Series 0i
“FANUC Series 0i-MODEL C
For Series 30i/31i/32i-B
For Series 0i-D
“FANUC Series 0i-MODEL D


The velocity loop gain may be too large. Adjust the following parameters:
15i 16i 30i Description Setting data

3040 4040 4040 Velocity loop proportional gain (HIGH)
3041 4041 4041 Velocity loop proportional gain (LOW) Decrease the
3048 4048 4048 Velocity loop integral gain (HIGH) setting values.
3049 4049 4049 Velocity loop integral gain (LOW)
(3) Make a comparison with the case of motor coasting.
- 43 -
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.

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

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

(b) Output limitation pattern and output limitation value


(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

(b) Output limitation pattern and output limitation value

(c) Regenerative power limitation (Check if the same value as in the parameter table for each
motor model is set.)
3080 4080 4080 Regenerative power limitation
- 44 -

Regenerative power limitation (for low-speed
3166 4166 4166
characteristics)

(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
2.2 POSITION CODER METHOD SPINDLE ORIENTATION

(OPTIMUM ORIENTATION)(OPTIONAL FUNCTION)
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 parameters according to the adjustment procedure.

- Velocity loop proportional and integral gains for orientation
- Position gain for orientation
- Spindle acceleration command and limit ratio for acceleration command
- Bell-shaped acceleration/deceleration time constant
I. Check ATC operation.
- 45 -
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.
Furthermore, by applying the optimum orientation function, the spindle acceleration command is
automatically optimized. This is expected to reduce the positioning time required by conventional method
orientation. It is, therefore, recommended to apply the optimum orientation function.
NOTE
1 To use this function, the CNC software option is required.
2 For an explanation of the changes that must be made to parameters to migrate
from conventional method orientation to optimum orientation, see Subsection
2.2.3, "Migration from Conventional Method Orientation to Optimum Orientation",
in Part I.
3 Optimum orientation function can be used with
9D50 series S (19) edition, 9D70 series I (09) edition, 9D80 series C (03)
edition, 9D90 series A (01) edition, and 9DA0 series A (01) edition or later.
4 For an explanation of conventional method orientation, see Section 5.4,
"CONVENTIONAL METHOD ORIENTATION", in Part I.
5 If using the output switching function together, do not change the motor winding
during spindle orientation (input signal: ORCMA = 1).
6 If using the spindle switching function together, use this function on both MAIN
and SUB sides.
2.2.3 Transition from Conventional Method Orientation to Optimum

Orientation
Open the parameter window of the SERVO GUIDE, and select
"SP"-"Orientation"-"Basic setting"-"Orientation Type". For Orientation Type, select "Optimum
orientation" and click the automatic setting button.
- 46 -
NOTE
1 Usually, this operation alone successfully performs the migration. If adjustment
is necessary, see Subsection 2.2.13, "Tuning Procedure".
2 When the external one-rotation signal (proximity switch) is used, select
"SP"-"Orientation"-"Optimum orientation" and set the one-rotation signal
detection speed (50 to 100 min-1) according to the sensor specifications.
3 If setting parameters from the "SYSTEM>parameter screen" of the CNC, see
Subsection 2.2.13, "Tuning Procedure".
4 Optimum orientation parameter setting using the parameter window can be used
with the SERVO GUIDE Ver5.00 or later.
2.2.4 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.
Furthermore, by applying the optimum orientation function, the spindle acceleration command is
automatically optimized, which can reduce the positioning time required by conventional method
orientation.
(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.
- 47 -
2.2.5 Block Diagram

A block diagram of optimum orientation is shown below.
The spindle amplifier detects the spindle acceleration after spindle orientation is specified by the time
position loop is closed. The spindle acceleration command (= the slope of motion command) is
automatically optimized based on this detected value.
Spindle acceleration
Time constant data before position
(No.4076) loop is closed
Motion
Motion s2
Command
Smoothing Command
Spindle position
data when position
Position feedforward loop is closed
(No.4064) Velocity feedforward
αs βs
Position Position Spindle motor Spindle

+ error gain + +
Σ
+ Velocity loop +
PG controller
- No.4060 - P：No.4042/43
～No.4063 I ：No.4050/51
Motor velocity feedback
Spindle position feedback

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

αiM sensor (or αiMZ sensor)
JYA2 Spindle
αi position coder
SP
TYPE A
JYA3
- 48 -

JYA2 Spindle
α position coder S
SP
TYPE B
JYA4
(3) When the built-in motor (αiBZ sensor, αiCZ sensor (analog)) is used
αiBZ sensor or αiCZ sensor (analog)
Spindle+
Built-in motor
JYA2
SP
TYPE A
(4) When the built-in motor (αiCZ sensor (serial)) is used
SP
TYPE A
Spindle+
Detection Built-in motor
JYA3 circuit
Thermistor
- 49 -
(5) When the spindle motor with built-in αiMZ sensor is used
αiMZ sensor
JYA2 Spindle
SP
TYPE A
(6) When the separate type αiBZ sensor or the separate type αiCZ sensor
(analog) is used
JYA2 Spindle
SP
TYPE B

JYA2
SP
TYPE A
Detection
Spindle
circuit
JYA3
- 50 -

Spindle
JYA2
SP
External one-rotation
TYPE A
signal switch (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.
(9) System in which the turret and the motor with a built-in αiMZ sensor are linked
with gears and a clutch (for turret indexing)
αiMZ sensor
Spindle
Turret (tool post)
JYA2
SP
TYPE A
Link with gears and a clutch
- 51 -
2.2.7 Stop Position Specification Method

Stop position
Description
specification method
Parameter-based Set the number of pulses (±4095 pulses) from the one-rotation signal to a stop position
specification (360° = 4096 pulses).
Specify the number of pulses (0 to 4095 pulses) from the one-rotation signal to a stop
External setting for
position with a PMC signal (360° = 4096 pulses). The sum of the number of pulses set in
stop position
the parameter and the number of pulses specified with a PMC signal represents a final
specification
stop position.
2.2.8 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 SP G227 G070 G070 ORCMA CTH1A CTH2A
2nd SP G235 G074 G074 ORCMB CTH1B CTH2B
1st SP G229 G072 G072 NRROA ROTAA INDXA

2nd SP G237 G076 G076 NRROB ROTAB INDXB
1st SP G230 G078 G078 SHA07 SHA06 SHA05 SHA04 SHA03 SHA02 SHA01 SHA00
2nd SP G238 G080 G080 SHB07 SHB06 SHB05 SHB04 SHB03 SHB02 SHB01 SHB00
1st SP G231 G079 G079 SHA11 SHA10 SHA09 SHA08

2nd SP 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.
CAUTION
Do not change status of following signals during spindle orientation command is
active (i.e. ORCMA=1)
CTH1A, CTH2A: Clutch / gear signals
RSLA: Output switching request signal
(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.
- 52 -
(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
CAUTION
Do not change status of following signals during spindle orientation command is
active (i.e. ORCMA=1)
CTH1A, CTH2A: Clutch / gear signals
(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.
(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.
- 53 -
(3) Address list of output signals (CNC→PMC)

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st SP F229 F045 F045 ORARA
2nd SP F245 F049 F049 ORARB
(4) Details of output signals (CNC→PMC)

(a) Spindle 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.
(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.
- 54 -
2.2.9 Examples of Sequences

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.
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
- 55 -
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

position change rotation
direction command ROTAA

position change shortcut
command NRROA
Stop <1> Stop <2>

Motor speed CW direction 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
• 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.
- 56 -
2.2.10 Explanation of Operation

This subsection describes the operation of optimum orientation.
(1) Starting spindle orientation when the spindle is rotating at or faster than
the orientation speed upper limit
(a) (b) (c)
Orientation
command
ORCMA
Orientation
completion siganl
ORARA
Orientation speed
upper limit
Detection of
acceleration Acceleration command (i.e. the
slope of motion command) is
automatically calculated based on
spindle acceleration in block (a).
0min-1 Spindle speed
Block in which position control is performed with the optimum motion
(a) Spindle amplifier decelerates spindle to the speed specified in parameter No. 4038 (upper limit of
orientation speed) and detects spindle acceleration. The one-rotation signal is also detected in case of
the first-time orientation after power-on.
(b) Optimum motion command based on spindle acceleration detected in block (a) is calculated and
spindle position control is performed.
(c) Spindle orientation completion signal (ORARA) is output when motion command distribution is
finished and position error become less than or equal to the number of pulses specified in parameter
No. 4075 (orientation completion signal detection level).
- 57 -
(2) Starting spindle orientation when the spindle is rotating at or slower than
(a) (b) (c)
Orientation
command
ORCMA
Orientation
completion signal
ORARA
Spindle speed is limited
Detection of by upper limit of
acceleration orientation speed.
Orientation speed
upper limit
Acceleration command (i.e. the

slope of motion command) is
automatically calculated based on
spindle acceleration in block (a).
0min-1 Spindle speed
(a) Spindle amplifier accelerates spindle until the time specified in parameter No.4076 [high byte]
(delay time for acceleration detection) passed and detects spindle acceleration. The one-rotation
signal is also detected in case of the first-time orientation after power-on.
(b) Optimum motion command based on spindle acceleration detected in block (a) is calculated and
spindle position control is performed.
(c) Spindle orientation completion signal (ORARA) is output when motion command distribution is
- 58 -
(3) Starting spindle orientation when the spindle is in the zero-speed state
(Zero-speed detection signal SSTA = 1)
(a) (b)
Orientation
command
ORCMA
Orientation
Spindle speed is limited completion signal
by upper limit of ORARA
orientation speed.
Orientation speed
upper limit
Acceleration command
(i.e. the slope of motion
command) is set by
parameter Nos. 4320 and
4321.
0min-1
Spindle speed
(a) Spindle amplifier calculates optimum motion command based on spindle acceleration command
specified in parameters Nos. 4320 and 4321 and performs spindle position control. In case of the
first-time after power-on, the same operation as that described in (2) is performed.
(b) Spindle orientation completion signal (ORARA) is output when motion command distribution is

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
3018#6 4018#6 4018#6
Type of position coder method orientation (Bits 6 and 3 to be set to 0 and1)
#3 #3 #3
3018#5 4018#5 4018#5 Optimum orientation: Setting of velocity feedforward
#4 #4 #4 (These bits are selected by the input signal CTH1A)
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.)
- 59 -
Parameter No.
Description
15i 16i 30i
3038 4038 4038 Optimum orientation: Orientation speed upper limit
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
3056 to 4056 to 4056 to Spindle-to-motor gear ratio
3059 4059 4059 (A parameter is selected by the CTH1A and CTH2A input signals.)
3060 to 4060 to 4060 to Position gain for orientation
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
3320 4320 4320 Optimum orientation: Spindle acceleration command
3321 4321 4321 (These parameters are selected by the input signal CTH1A)
3324 4324 4324 Optimum orientation: One-rotation signal detection speed
Optimum orientation: Limit ratio for acceleration command /
3326 4326 4326
Optimum orientation: Time constant for overshoot compensation
3327 4327 4327
(These parameters are selected by the input signal CTH1A)
3328 4328 4328 Command multiplier for orientation
3370 4370 4370 Filter time constant for spindle acceleration detection
4590
－－ Orientation speed limit ratio 1/orientation speed limit ratio 2
4591
－－ 4607 Motor voltage after completion of optimum orientation
NOTE
1 For the parameters related to detectors, see the Section 1.3, “PARAMETERS
RELATED TO DETECTORS” in the Part I.
"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).
- 60 -

NOTE
The "[H]" and "[L]" suffixes of parameter No. express the upper bytes and lower
bytes of parameter No. xxxx. (See illustration below.)
Upper bytes Lower bytes
No.xxxx [H] [L]
16bit data
Example:
When No. 4076[L] : Bell shaped acc./dec time constant = 100
No. 4076[H] : Delay time for acceleration detection = 25
the setting value of parameter No. 4076 is as follows:
No.4076 = 25×256+100 = 6500
15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3015 4015 4015 ORIENT
ORIENT: Whether to use the spindle orientation function (The CNC software option is required.)
0: Does not use the spindle orientation function.
1: Use the spindle orientation function.
Set 1.
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.)
0 1
(It is CW at the power on.)
1 0 CCW (counterclockwise) direction looking from shaft 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.
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.
- 61 -
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 #7 #6 #5 #4 #3 #2 #1 #0

3018 4018 4018 ORTYP1 OOTCML OOTCMH ORTYP0
ORTYP1、ORTYP0 Type of position coder method orientation

ORTYP1 ORTYP0 Orientation type
0 0 Conventional method orientation
0 1 Optimum orientation
1 0 High-speed spindle orientation
Set "0,1" (optimum orientation).
OOTCMH: Optimum orientation : Setting of velocity feedforward (CTH1A=0)

OOTCML: Optimum orientation : Setting of velocity feedforward(CTH1A=1)
0: Velocity feedforward is unavailable
1: Velocity feedforward is available
Set 1.
15i 16i 30i

3031 4031 4031 Stop position of position coder method orientation
Unit of data : 1pulse (360deg /4096)

This data is used to set the stop position of position coder method orientation. This
parameter is invalid for stop position external setting-type and incremental command
external setting-type spindle orientation. Instead, the stop position commands (input
signals: SHA11 to SHA00) are valid.
15i 16i 30i

3038 4038 4038 Optimum orientation : Spindle orientation speed
Unit of data : 1min-1 (10min-1 when bit 2 of parameter No.4006(SPDUNT) is set to 1)

This parameter is used to set the upper limit of spindle velocity command after position
loop is closed.
If the setting is "0", "base speed of spindle motor/gear ratio between spindle and motor”
is automatically assumed, using the settings of parameters Nos. 4056 to 4059 (gear ratio
data between spindle and motor).
NOTE
When an improper value is set in any of parameters Nos. 4056 to
4059, the upper limit of the orientation speed is not calculated
correctly and unexpected operation can occur.
Be sure to set proper gear ratios in parameters Nos. 4056 to 4059.
- 62 -
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 :
This data is used to set the velocity loop proportional gain on orientation.
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 :
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

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
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

These parameters set the position gain for orientation.
- 63 -
15i 16i 30i

3064 4064 4064 Optimum orientation: Position feedforward coefficient
Unit of data : 1%
This parameter is used to set position feedforward coefficient.
Normally, set 100.
Initial
Speed command
Spindle speed
command
Move
command
Initial
Position error pulse
Position error
Initial position error pulse（rev）

=（1－the value set in this parameter/100）
-1
×Initial speed command（min ）÷60
-1
÷Position gain（sec ）
15i 16i 30i

3075 4075 4075 Orientation completion signal detection level (limits of in-position)
Unit of data : ±1 pulse unit (360 degrees/4096)

This data is used to set the detecting level of orientation completion signal (ORARA).
ORARA is assumed to be 1 if the position error is within the setting.
15i 16i 30i

3076[L] 4076[L] 4076[L] Optimum orientation : Bell-shaped acceleration/deceleration time constant
Unit of data : 1msec

This data is used to set bell-shaped acceleration/deceleration time constant.
If the setting is "0", "31" (= 31 msec) is assumed to be set in the parameter.
Normally, set 0.
- 64 -
Move command
（After Bell-shaped
acceleration/deceleration）
Setting in
Move command parameter（ms）
（Before Bell-shaped
acceleration/deceleration）
0.5×Setting in parameter Move

（ms） command
15i 16i 30i

3076[H] 4076[H] 4076[H] Optimum orientation: Delay time for acceleration detection

This data is used to set the lower limit of the time between the instant when the
orientation command ORCMA is input and the instant when position loop is closed. The
acceleration command is automatically set based on the acceleration data detected by the
time position loop is closed.
If the setting is "0", "2" (= 20 msec) is assumed to be set in the parameter.
Normally, set 0.
15i 16i 30i

3077 4077 4077 Orientation stop position shift value

In the position coder method orientation, set this data to shift stop position. If a positive
value is specified, the position where the spindle stops is shifted counterclockwise
(CCW).
15i 16i 30i

3084 4084 4084 Motor voltage setting on orientation
Unit of data : 1%
Standard setting : The value may vary, however, depending on the motor model.
This parameter sets the motor voltage for orientation.
Normally, set 100.
- 65 -
15i 16i 30i

3320 4320 4320 Optimum orientation : Spindle acceleration command (HIGH) CTH1A=0
3321 4321 4321 Optimum orientation : Spindle acceleration command (LOW) CTH1A=1
Unit of data : 10min-1/sec

When setting value is zero or positive
When orientation is commanded in the rotating state, the spindle acceleration command is
automatically set based on the spindle acceleration detected from the time the orientation
command (ORCMA) is input until the position loop is closed.
These parameters are used to set spindle acceleration command in case of
- Orientation when spindle is zero-speed state (Zero-speed detection signal SST = 1)
- Incremental command external setting-type orientation
If the setting is "0", "133" (= 1330 min-1/sec) is assumed to be set in the parameter.
When setting value is negative

These parameters are used to set spindle acceleration command regardless of the spindle
speed when orientation is commanded. (The absolute value of the setting value is treated
as acceleration command.)
15i 16i 30i

3324 4324 4324 Optimum orientation : One-rotation signal detection speed
Unit of data : 1min-1 (10 min-1 when bit 2 (SPDUNT) of parameter No. 4006 =1)
In case of the first-time orientation command (ORCMA) after power-on, the spindle
accelerates or decelerates toward the speed set by this parameter and detects one-rotation
signal.
If the setting is "0", setting value of parameter No. 4038 (upper limit of orientation speed)
is assumed to be set in the parameter.
If the external one-rotation signal (proximity switch) is used, setting this parameter and
the upper limit of orientation speed separately can reduce orientation time of second-time
or later after power-on.
When one-rotation signal detection speed is equal to upper limit of orientation speed (No. 4324 = 0)
First-time Second-time
orientation Orientation
after power-on
Spindle
speed : Position loop
is closed
Upper limit of
-1 orientation speed
0min
(=One-rotation signal
One-rotation detection speed)
signal detection
- 66 -
When one-rotation signal detection speed is different from upper limit of orientation speed (No. 4324 ≠ 0)
First-time Second-time
orientation Orientation
after power-on
Spindle
speed : Position loop
is closed
Upper limit of
orientation speed
(=One-rotation signal
detection speed)
-1
0min
One-rotation
signal detection
15i 16i 30i

3326[L] 4326[L] 4326[L] Optimum orientation : Limit ratio of acceleration command(HIGH)CTH1A=0
3327[L] 4327[L] 4327[L] Optimum orientation : Limit ratio of acceleration command(LOW) CTH1A=1
Unit of data : 1%
This parameter is used to set limit ratio for acceleration command.
If the setting is “0”, “95”(=95%) is assumed to be set in the parameter.
Usually, specify “0”.
Detection of
acceleration
Acceleration command
(= The slope of motion command)
= Detected acceleration
× setting value of this parameter × 1/100
Motion
Command
Motion command distribution
15i 16i 30i

3326[H] 4326[H] 4326[H] Optimum orientation : Time constant for overshoot compensation (HIGH)
CTH1A=0
3327[H] 4327[H] 4327[H] Optimum orientation : Time constant for overshoot compensation (LOW)
CTH1A=1

This parameter is used to set time constant for overshoot compensation.
If the setting is “0”, “5”(=5msec) is assumed to be set in the parameter.
- 67 -
Usually, specify “0”.
15i 16i 30i

3328 4328 4328 Command multiplier for spindle orientation by a position coder
Unit of data :
Set a command multiplier for the orientation function with an externally set incremental
command.
If this parameter is set to "0", the multiplier is automatically assumed to be "1" (= ×1).
If this parameter is set to a value other than "0", the incremental command is
"Incremental command data (SHA11 to SHA00) × setting of this parameter"
To use spindle rotation speed control, set this parameter to "4096", because the resolution
commanded for orientation is 4096 pulses per spindle rotation.
NOTE
1 For an explanation of the incremental command type spindle
orientation function, see Section 5.3, "INCREMENTAL COMMAND
TYPE SPINDLE ORIENTATION (SPINDLE ROTATION SPEED
CONTROL)", in Part I.
2 In case of optimum orientation, the maximum number of revolution
(incremental command) that can be specified is
30000 revolution (= 30000 × 4096 pulses).
15i 16i 30i

3370 4370 4370 Filter time constant for spindle acceleration detection

This parameter is used to set filter time constant for spindle acceleration detection.
The following are the recommended settings for the individual types of spindle sensor.
Type of spindle sensor Setting value
Except for αi position coder (No.4002#3,2,1,0 ≠ 0, 0, 1, 0) 5 to 15
αi position coder (No.4002#3,2,1,0 = 0, 0, 1, 0) 10 to 20
If the setting is "0",

"5" (= 5 msec): except for αi position coder
"10" (= 10 msec): αi position coder
is assumed to be set in this parameter.
15i 16i 30i

- - 4590[L] Optimum orientation: Orientation speed limit ratio 1 (HIGH) CTH1A=0
- - 4590[H] Optimum orientation: Orientation speed limit ratio 2 (HIGH) CTH1A=0
- - 4591[L] Optimum orientation: Orientation speed limit ratio 1 (LOW) CTH1A=1
- - 4591[H] Optimum orientation: Orientation speed limit ratio 2 (LOW) CTH1A=1
Unit of data : 1%
- 68 -
These parameters are used to set orientation speeds, in conjunction with parameter No.
4038 for setting the orientation speed upper limit. Normally, set “0” in these parameters
because they need not be adjusted.
[Reference]
When an orientation operation is started at a speed near the orientation speed upper limit
(parameter No. 4038), the orientation time may be reduced by limiting the orientation
speed with these parameters.
Orientation speed limit ratio 1, ORSCF1, is used to define orientation speed lower limit,
ORSPDL, as shown below:
100 − ORSCF1
ORSPDL = × ORSPDU
100
Then, the following can be used to calculate orientation speed, ORSPD, as shown below:
・Spindle speed for the orientation command : ORSINI
・Orientation speed upper limit (set in parameter No. 4038): ORSPDU
・Orientation speed lower limit : ORSPDL
・Orientation speed limit ratio 2 : ORSCF2
ORSCF2 100－ORSCF2
ORSPD = × ORSINI＋ × ORSPDL
100 100
(Clamping is performed so that ORSPDL ≤ ORSPD ≤ ORSPDU.)
15i 16i 30i

- - 4607 Motor voltage after completion of optimum orientation
Unit of data : 1%
This parameter is used to set a motor voltage after completion of optimum orientation.
The rigidity at the orientation stop can be increased by adjusting this parameter setting.
Normally, set “0” in this parameter because it need not be adjusted.
・ When this parameter is “0”:

Motor voltage after completion of orientation = parameter No. 4083 (motor voltage
on the velocity control mode [for high-speed winding])
・ When this parameter is other than “0”:
Motor voltage after completion of orientation = parameter No. 4607
- 69 -
2.2.13 Tuning Procedure

(1) Parameter initialization
(A) If making settings from the parameter window of the SERVO GUIDE
(i) Open the parameter window of the SERVO GUIDE, and select
"SP"-"Spindle system"-"Gear setting", and set
- Gear ratio setting resolution
- Gear ratio
- Detector side gear (DMR) setting
according to the system configuration.
- 70 -
(ii) Select "SP"-"Orientation"-"Basic setting"-"Orientation Type". For Orientation Type, select

"Optimum orientation" and then click the automatic setting button.
- 71 -
(iii) Select "SP"-"Orientation"-"Basic setting"-"Stop Pos setting", and set

- Stop position
- Stop position shift amount
- Command multiply
- Completion signal detection level
according to the use.
(iv) Select "SP"-"Orientation"-"Veloc./Pos. Control"-"Velocity Control", and set

- Velocity loop proportional gain: 10
- Velocity loop integral gain: 30
If wishing to limit the spindle speed during position control, set the upper limit for
- Orientation speed
- 72 -
(v) Select "SP"-"Orientation"-"Veloc./Pos. Control"-"Position Control", and set

- Position Gain: 3000 to 4000
Set
- Shortcut function
- Rotation direction
according to the use.
If using the external one-rotation signal (proximity switch), set Rotation direction to either
Fixed CCW or Fixed CW
- 73 -
(vi) Select "SP"-"Orientation"-"Optimum orientation", and set

- Tc of acc. detection filter: 0
If using the external one-rotation signal (proximity switch), set
- 1-rotation signal detection speed: 50 to 100
according to the sensor specifications.
(B) If making settings from the SYSTEM> parameter screen of the CNC
Initialize the parameters as listed below.
Orientation may work well with following settings. Tune parameters if necessary.
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.
- 74 -

4018#6,3 Type of position coder method orientation 0, 1
4018#4,5 Setting of velocity feedforward 1, 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
4056 to 4059 Gear ratio
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
Denominator of the motor sensor-to-spindle arbitrary Specify an appropriate value depending
4171,4173
gear ratio on the system configuration.
Numerator of the motor sensor-to-spindle arbitrary gear Specify an appropriate value depending
4172,4174
ratio on the system configuration.
4320 to 4323 Acceleration during motor deceleration Tune according to actual measurements.
4324 One-rotation signal detection speed 0 *3 3
Limit ratio for spindle acceleration command /
4326,4327 0
Time constant for overshoot compensation
4328 Command multiplier for orientation
4370 Filter time constant for spindle acceleration detection 0
Orientation speed limit ratio 1/
4590,4591 0
Orientation speed limit ratio 2
4607 Motor voltage after completion of optimum orientation 0
NOTE
1 Fix the rotation direction at one direction when the external one-rotation signal
(proximity switch) is used.
2 Set upper limit if it is necessary to specify the maximum speed of spindle during
position control.
3 Set 50 to 100 min-1 according to the specification of the sensor when the
external one-rotation signal (proximity switch) is used.
- 75 -
(2) Tuning example 1: If specifying orientation when the spindle is rotating

(a) Tuning the velocity loop proportional gain (Nos. 4042/4043) and integral gain (Nos. 4050/4051)
Detach the load inertia (tool and workpiece) from the spindle. Then tune the velocity
proportional/integral gain by referring to Section 4.1, "VELOCITY LOOP GAIN ADJUSTMENT",
in Part I.
(b) Tuning the position gain (Nos. 4060 to 4063)
Basically, the position gain needs no changes from the initial values mentioned in the preceding
section.
(c) Tuning the limit ratio for acceleration command (Nos. 4326/4327)
Perform orientation from maximum spindle speed. If the torque command is saturated (TCSAT = 1)
while motion command distribution is executing (Section D: ORSEQ = 3), decrease the limit ratio
for the acceleration command (Nos. 4326/4327) in steps of 5% from the initial value of 95%.
SPSPD : Spindle speed SPSPD : Spindle speed
TCSAT : Torque command status TCSAT : Torque command status
TCSAT TCSAT
Torque command Decrease P4326/4327

is saturated and until torque command
overshoot occurs. isn’t saturated.
SPSPD SPSPD
D D
(d) Tuning the bell-shaped acc./dec. time constant (No. 4076)
If the time from the end of motion command distribution to orientation completion (Section E:
ORSEQ = 4) is long, increase the bell-shaped acc./dec. time constant (No. 4076) in steps of 4 ms
from the initial value of 32 ms.
ORSEQ : Orientation sequence data ORSEQ : Orientation sequence data
SPSPD SPSPD
Orientation isn’t completed

as soon as motion command Orientation is completed
distribution has finished. as soon as motion command
distribution has finished.
E
ORSEQ ORSEQ
(e) Checking orientation with the load inertia attached

Attach the load inertia to the spindle and check orientation from the maximum spindle speed.
- 76 -
(3) Tuning example 2: If specifying orientation when the spindle is zero-speed

state
(a) Tuning the velocity loop proportional gain (Nos. 4042/4043) and integral gain (Nos. 4050/4051)
Attach the load inertia (tool and workpiece) to the spindle. Then tune the velocity
proportional/integral gain by referring to Section 4.1, "VELOCITY LOOP GAIN ADJUSTMENT",
in Part I.
(b) Tuning the position gain (Nos. 4060 to 4063)
Basically, the position gain needs no changes from the initial values mentioned in the preceding
section.
(c) Specifying the [provisional value] of the spindle acceleration command (Nos. 4320/4321)
Perform acc./dec. form 0 min-1 to maximum speed in velocity control mode, and measure spindle
acceleration.
SPSPD : Spindle speed
SPACC : Spindle acceleration
SPSPD
Maximum acceleration
at acceleration (min-1/s)
SPACC Maximum acceleration

at deceleration (min-1/s)
Specify the spindle acceleration command (Nos. 4320/4321) as follows:

Setting value = 0.1 × min (|max. acceleration at acc.|, |max. acceleration at dec.|)
(d) Tuning the spindle acceleration command (Nos. 4320/4321)
Perform orientation from the state in which motor excitation is off. If the torque command is
saturated (TCSAT = 1) while motion command distribution is executing (Section D: ORSEQ = 3),
decrease the spindle acceleration command (Nos. 4320/4321) until torque command is not saturated.
TCSAT : Torque command status TCSAT : Torque command status
SPSPD Decrease P4320/4321 SPSPD

Torque command until torque command
is saturated and isn’t saturated.
overshoot occurs.
TCSAT TCSAT
D D
(e) Tuning the bell-shaped acc./dec. time constant (No. 4076)
Tune the bell-shaped acc./dec. time constant (No. 4076) in the same way as that described in (2).
- 77 -
2.2.14 Adjusting the Orientation Stop Position Shift Parameter

Adjust the orientation stop position shift parameter by following the procedure below.
(a) Specify parameters as follows:

Bit 1 of No. 3117 = 1 (to enable the display function of diagnosis screen No. 445)
Bit 7 of No. 4016 = 0
No. 4031 = 0 (When external signals are used for setting, set the input signals SHA11 to SHA00 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 (No.
4077).
[Example]
Value displayed in No. Value displayed in No. 445

445 when orientation when the spindle is rotated
is stopped = "0" Ö 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.
2.2.15 Supplementary Descriptions

(1) Correspondence of parameter Nos. when the spindle switching control function
is used
15i 16i 30i

Description
MAIN SUB MAIN SUB MAIN SUB
3015#0 ← 4015#0 ← 4015#0 ← Whether the spindle orientation function is available
3003#3 3179#3 4003#3 4179#3 4003#3 4179#3
Rotation direction for orientation
#2 #2 #2 #2 #2 #2
3003#0 3179#0 4003#0 4179#0 4003#0 4179#0 Orientation method selection
3017#7 3193#7 4017#7 4193#7 4017#7 4193#7 Short-cut function when spindle orientation from stopped state is
- 78 -
15i 16i 30i

Description
specified
3018#6 3194#6 4018#6 4194#6 4018#6 4194#6
Type of position coder method orientation
#3 #3 #3 #3 #3 #3
3018#4 3194#4 4018#4 4194#4 4018#4 4194#4 Setting of velocity feedforward (HIGH)
3018#5 3194#5 4018#5 4194#5 4018#5 4194#5 Setting of velocity feedforward (LOW)
3031 3204 4031 4204 4031 4204 Spindle orientation stop position
3038 3205 4038 4205 4038 4205 Upper limit of orientation speed
3042 3208 4042 4208 4042 4208 Velocity loop proportional gain for orientation (HIGH)
3043 3209 4043 4209 4043 4209 Velocity loop proportional gain for orientation (LOW)
3050 3213 4050 4213 4050 4213 Velocity integral gain for orientation (HIGH)
3051 ↑ 4051 ↑ 4051 ↑ Velocity integral gain for orientation (LOW)
3056 3216 4056 4216 4056 4216 Gear ratio data between spindle and motor (HIGH)
3057 ↑ 4057 ↑ 4057 ↑ Gear ratio data between spindle and motor (MEDIUM HIGH)
3058 ↓ 4058 ↓ 4058 ↓ Gear ratio data between spindle and motor (MEDIUM LOW)
3059 3217 4059 4217 4059 4217 Gear ratio data between spindle and motor (LOW)
3060 3218 4060 4218 4060 4218 Position gain for orientation (HIGH)
3061 ↑ 4061 ↑ 4061 ↑ Position gain for orientation (MEDIUM HIGH)
3062 ↓ 4062 ↓ 4062 ↓ Position gain for orientation (MEDIUM LOW)
3063 3219 4063 4219 4063 4219 Position gain for orientation (LOW)
3064 3220 4064 4220 4064 4220 Position feedforward coefficient
3075 3226 4075 4226 4075 4226 Orientation completion signal detection level
Bell-shaped acc./dec. time constant /
3076 3227 4076 4227 4076 4227
Delay time for acceleration detection
3077 3228 4077 4228 4077 4228 Orientation stop position shift value
3084 3237 4084 4237 4084 4237 Motor voltage for orientation
3320 3322 4320 4322 4320 4322 Spindle acceleration command (HIGH)
3321 3323 4321 4323 4321 4323 Spindle acceleration command (LOW)
3324 3325 4324 4325 4324 4325 One-rotation signal detection speed
Limit ratio for acceleration command (HIGH) /
3326 3330 4326 4330 4326 4330
Time constant for overshoot compensation (HIGH)
Limit ratio for acceleration command (LOW) /
3327 3331 4327 4331 4327 4331
Time constant for overshoot compensation (LOW)
3328 3329 4328 4329 4328 4329 Command multiplier for orientation
3370 3383 4370 4383 4370 4383 Filter time constant for spindle acceleration detection
Orientation speed limit ratio 1 (HIGH)/
⎯ ⎯ ⎯ ⎯ 4590 4720
Orientation speed limit ratio 2 (HIGH)
Orientation speed limit ratio 1 (LOW)/
⎯ ⎯ ⎯ ⎯ 4591 4721
Orientation speed limit ratio 2 (LOW)
⎯ ⎯ ⎯ ⎯ 4607 4737 Motor voltage after completion of optimum orientation
NOTE
Use the optimum orientation function for both MAIN spindle and SUB spindle
when the spindle switching control function is used concurrently.
(2) Spindle data related to optimum orientation

The following are setting examples that an be used if data related to optimum orientation is to be
measured using the SERVO GUIDE.
Refer to FANUC SERVO GUIDE OPERATOR’S MANUAL (B-65404EN) or online help for detailed
explanations about how to use the SERVO GUIDE.
- 79 -
Conv. Conv.
Data Kind Unit Shift Notet
Coef. Base
Spindle speed SPSPD 1/min 1 1 -12
Spindle acceleration*1 SPACC ⎯ 10 1 0 Unit:1min-1/sec
Orientation sequence
ORSEQ ⎯ 1 1 0
data*2
Position error at
ORERR pulse 0.25 1 -10 4096 pulses/rev
orientation
Torque command TCMD % 100 16384 0
Torque command
SFLG1#12 0:TCMD isn’t saturated
status*3 ⎯ 1 1 0
(TCSAT) 1:TCMD is saturated
(bit12 of spindle flag 1)
NOTE
1 If the SERVO GUIDE is of Version 4.10 or later.
For an earlier version, make the following settings on the channel setting screen
of the graph window.
Set extended address
Setting Conv. Coef. & Conv.

Base in this way, unit of data
-1
become 1min /sec
2 Orientation sequence (ORSEQ) is data showing the states of orientation.

Shown below is an example of output wave-form, together with the meaning of
each state.
ORCM=0→1 ORAR=0→1
Section A: Before orientation is commanded

Section B: One-rotation signal detection
Section C: Acceleration or deceleration for
spindle acceleration detection
Section D: Position loop is closed (motion
command distribution is executing)
Section E: Position loop is closed (motion
command distribution has finished)
Section F: Orientation completion
A B C D E F
- 80 -
NOTE
3 To display the torque command status decision flag, set spindle flag 1 on the
channel setting screen of the graph window, and make the following settings on
the GraphSetting screen.
Setting in this way, bit12 of

SFLG1(CH2 in this example)
can be display as Draw1 .
- 81 -
2.3 RIGID TAPPING (OPTIONAL FUNCTION)

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.
2.3.3 FSSB High-speed Rigid Tapping

In rigid tapping, when high-speed communication is used through the FSSB connection between the
spindle amplifier and servo amplifier, it is possible to reduce the synchronous error and to shorten the
cycle time while maintaining precision.
However, FSSB high-speed rigid tapping cannot be used for the following:
・ Rigid tapping through spindle control by an analog spindle or servo motor
・ Rigid tapping with two or more spindles and one servo axis through spindle command
synchronization
- 82 -
・ Rigid tapping with two or more servo axes simultaneously used for one spindle
2.3.3.1 Series and Edition of Applicable FSSB High-speed Rigid

Tapping Software
Spindle Software
Series Edition CNC
9DA0 G (07) FS30i -B / FS31i-B / FS32i-B /

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

JYA2 Spindle
αi position coder
SP
TYPE A
JYA3
Directly connected or connected with
a gear or timing belt at a ratio of 1:1

JYA2 Spindle
α position coder S
SP
TYPE B
JYA4
- 83 -
(3) When the built-in motor (αiBZ sensor or αiCZ sensor (analog)) is used
Spindle+
Built-in motor
JYA2
SP
TYPE A

SP
TYPE A
Spindle+
JYA3 circuit
Thermistor
(5) When the spindle motor with built-in αiM sensor (or αiMZ sensor) is used
JYA2 Spindle
SP
TYPE A
Directly connected at a ratio of 1:1
or
connected with a gear or timing belt at a ratio of m:n
- 84 -
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 αiMZ 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 a motor with a built-in αiMZ
sensor is used and the spindle is directly connected to the motor or the spindle is
connected to the motor at a ratio of 1:1.
(analog) is used
JYA2 Spindle
SP
TYPE B
- 85 -

JYA2
SP
TYPE A
Detection
Spindle
circuit
JYA3

Spindle
JYA2
TYPE A signal switch (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).
following:
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.
- 86 -

This Subsection provides a list of the I/O signals related to rigid tapping only. For details of each signal,
Refer to Section 9.11, “RIGID TAPPING.”
(c) For Series 15i
(d) For Series 0i
(f) For Series 0i-D
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.
- 87 -
(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.
(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

(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.
(b) 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
- 88 -
(c) Series 15i

#7 #6 #5 #4 #3 #2 #1 #0
F040 RTAP
F155 RSPC RSPM RSPP
2.3.6 Sequence
For a rigid tapping sequence, refer to the Connection Manual (Function) of each CNC.
(c) For Series 15i
(d) For Series 0i
(f) For Series 0i-D

Parameter No.
Description
15i 16i 30i
- 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
3065 to 5280 5280 Position gain of tapping axis at rigid tapping (16i/30i: No. 5284 is used
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
- 89 -
Parameter No.
Description
15i 16i 30i
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
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
Selection of the bell-shaped acceleration/deceleration function for rigid
- 5203#5 5203#5 tapping (the CNC software option (bell-shaped
acceleration/deceleration for rigid tapping) is required.)
- 5365
5365 Bell-shaped acceleration/deceleration time constant for rigid tapping
- 5366
5366 (For the 16i, the relevant parameters are valid with the M series only.
- 5367
5367 For the 30i, parameter No. 5368 is valid with the T series only.)
- 5368
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 motor voltage control characteristics on Cs
3016#4 4016#4 4016#4
contouring control or servo mode
- - 4037 Velocity loop feed-forward coefficient
3044 4044 4044 Velocity loop proportional gain on servo mode/spindle synchronous
3045 4045 4045 control (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.)
3056 to Gear ratio between spindle and motor
4056 to 4059 4056 to 4059
3059 (It is selected by input signal CTH1A or CTH2A)
- 90 -
Parameter No.
Description
15i 16i 30i
3065 to Spindle position gain on servo mode/spindle synchronous control
4065 to 4068 4065 to 4068
3073 4073 4073 Grid shift amount on servo mode
3074 4074 4074 Reference position return speed on Cs contouring control/servo mode
Position gain change ratio at reference position return time on servo
3091 4091 4091
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
3171 4171 4171 Denominator of an arbitrary gear ratio between the motor sensor and
3173 4173 4173 spindle (A parameter is selected by the input signal CTH1A.)
3172 4172 4172 Numerator of an arbitrary gear ratio between the motor sensor and
3174 4174 4174 spindle (A parameter is selected by the input signal CTH1A.)
- - 4344 Advanced preview feed-forward coefficient
Acceleration/deceleration time constant for Cs contouring control/servo
3406 4406 4406
mode
- 4540#1 Setting related to motor voltage control characteristics on servo mode
- - 4549#1 Setting for FSSB high-speed rigid tapping
NOTE
1 For the parameters related to detectors, see Section 1.3, “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.
(c) For Series 15i
(d) For Series 0i
(f) For Series 0i-D
- 91 -
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.
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 Setting related to the motor voltage control characteristics on Cs contouring control or
servo mode (rigid tapping)
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 #7 #6 #5 #4 #3 #2 #1 #0

3017 4017 4017 NRROEN
state.
- 92 -

When the setting is 1, shortcut operation is performed when the following conditions are
satisfied:
i) Bit 7 (RFCHK3) of parameter No. 4016 is set to 0.
ii) Zero speed detection output signal SST is set to 1.
iii) Shortcut command input signal NRROA is set to 1.
- - 30i
Unit of data :
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
3045 4045 4045 (LOW) CTH1A=1
Unit of data :
These parameters set a velocity loop proportional gain on servo mode (rigid
tapping/spindle positioning) or spindle synchronous control.
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 :
These parameters set a velocity loop integral gain on servo mode (rigid tapping/spindle
positioning) or spindle synchronous control.
15i 16i 30i


- 93 -

Example :
When the spindle rotates once, set “250” as the data when the motor rotates 2.5 times.
Set the gear or clutch status to correspond to the clutch/gear signal (CTH1A, CTH2A) in
input signals.
NOTE
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

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

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

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

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

Unit of data : 1min-1

• When 0 is set
The orientation speed is the reference position return speed in servo mode (rigid
tapping/spindle positioning).
• When a value other than 0 is set
- 94 -
The value set in this parameter is used as a reference position return speed on servo
mode (rigid tapping/spindle positioning).
NOTE
When using an external one-rotation signal (proximity switch), for
stable detection of the one-rotation signal, set a reference position
return speed (parameter No. 4074) from 50 to 100 min-1 according
to the specification of the external one-rotation signal (proximity
switch) you want to use.
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%
These parameters set a motor voltage on servo mode (rigid tapping, spindle positioning,
and so forth) and spindle synchronous control.
When performing rigid tapping, set "100" usually.
When the maximum speed for rigid tapping (in terms of motor axis) is higher than the
base speed of the spindle motor (No. 4100 for high-speed characteristics and No. 4138 for
low-speed characteristics), set a value less than "100" as the motor voltage for rigid
tapping (No. 4085 for high-speed characteristics and No. 4137 for low-speed
characteristics), according to the following expression:
Spindle motor base speed
Motor voltage (%)= 100×
Maximum speed for rigid tapping (in terms of motor axis)
In this case, set "1" for the setting related to the motor voltage control characteristics (bit
4 of parameter No. 4016) or the setting related to the motor voltage control characteristics
on servo mode (bit 1 of parameter No. 4540).
15i 16i 30i

3091 4091 4091 Position gain change ratio at reference position return time on servo mode
Unit of data : 1%
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

Unit of data : 1ms

- 95 -
This parameter sets a period of time required until motor excitation becomes stable at the
time of switching to 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).
15i 16i 30i

3171 4171 4171 (HIGH) CTH1A=0
3172 4172 4172 (HIGH) CTH1A=0
3173 4173 4173 (LOW) CTH1A=1
3174 4174 4174 (LOW) CTH1A=1
Unit of data :
(αiM sensor or αiMZ sensor) feedback signal by a gear ratio to produce a spindle
position feedback signal.
No. 4171 (No. 4173 when CTH1A = 1) = P
No. 4172 (No. 4174 when CTH1A = 1) = Q
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


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.
- 96 -
15i 16i 30i

Acceleration/deceleration time constant for reference position return on Cs
3406 4406 4406 contouring control/servo mode

This parameter sets a reference position return acceleration for Cs contouring control or
servo mode (rigid tapping/spindle positioning). 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.
15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

- - 4540 EXPTRG
EXPTRG Setting related to the motor voltage control characteristics on servo mode (rigid tapping)
Set this bit to 1 when setting a value less than 100 as the motor voltage on servo mode
(parameter No. 4085).
This bit is valid only for the setting for the motor voltage on servo mode (parameter No.
4085).
15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

- - 4549 FHRSP
FHRSP Setting for FSSB high-speed rigid tapping

0 : FSSB high-speed rigid tapping is disabled.
1 : FSSB high-speed rigid tapping is enabled.
- 97 -
2.3.9 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.

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

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 Spindle amplifier
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.

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.
- 98 -
CNC Spindle amplifier

Position
command Position Motor
control
Arbitrary gear Spindle

ratio
(detection)
(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
(2) Set the gear teeth number of the position coder side.
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)
- 99 -

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.
Standard machining [M series] : GR3O, GR2O, GR1O
Second spindle : GR21, GR21 (Multi-spindle control option is needed)

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

Parameter No.
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
[Series 15i]
Gear signal Parameter No.
Gear teeth number of position coder
CTH1A CTH2A Gear teeth number of spindle side
side
0 0 5852 5851
0 1 5855 5854
1 0 5858 5857
1 1 5861 5860
- 100 -
(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]
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]
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)
(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.
Second spindle of turning [T series]: GR21 (Multi-spindle control option is needed)

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)
- 101 -
[1st. sp] [2nd. sp]

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.
[Series 30i]
Second spindle : GR22, GR21(Multi-spindle control option is needed)

Parameter No.
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
NOTE
[1st. sp] [2nd. sp]

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)
- 102 -
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.
[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)

Gear signal Time constant Time constant Spindle max. speed at
(Cutting in) (Cutting out) 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.
GR1 GR2 GR21 T 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) -
- 103 -
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]


2nd. sp : GR21, GR21 (Multi- spindle control option is needed)

Gear signal Time constant Time constant Spindle max. speed
(Cutting in) (Cutting out) at rigid tapping
GR1O GR2O GR3O
1 0 0 5261 5271 5241
0 1 0 5262 5272 5242
0 0 1 5263 5273 5243

Spindle max. speed at
Gear signal rigid tapping
(Cutting in) (Cutting out)
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) -
NOTE

- 104 -
[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
2.3.10 Adjustment Procedure

(1) Parameters used for adjustment
The table below lists and describes the parameters used for adjusting rigid tapping.
Parameter No. (FS16i,30i) 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 signal.
5261 to 5264
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)
4137 Motor voltage on rigid tapping (for low speed characteristics)
4016#4 Motor voltage control characteristic settings on rigid tapping
4099 Delay time for motor excitation.
4540#1 Setting for motor voltage control characteristics on rigid tapping
(2) Initialization
Before adjustment, initialize the parameters related to rigid tapping with a spindle motor.
Parameter No.
Initial setting
(FS16i,30i)
5241~5244 Set the maximum spindle speed on rigid tapping.
- 105 -
Set them with either of the methods <1> and <2> below.
<1> Method to set parameters from the spindle acceleration time
In velocity control mode, measure the acceleration time [ms] required to achieve the maximum
spindle speed on rigid tapping (Nos. 5241 to 5244), and set the value equal to the acceleration
time multiplied by 1.5 to 2.
<2> Method to set the acceleration/deceleration constant from an expression
Jm[ kgm 2 ] + JL[kgm 2 ] 2π
tr[ms] = × × Nr[min −1 ] × Gear × 1000 × 1.2
5261~5264 T max( Nr )[ Nm] 60
tr [ms] : Acceleration/deceleration time constant on rigid tapping (Nos. 5261 to 5264)
Nr [min-1] : Maximum spindle speed on rigid tapping (Nos. 5241 to 5244)
Gear : Gear ratio data between spindle and motor
(motor speed per one spindle rotation)
Tmax(Nr) [Nm] : Maximum torque of the spindle motor at Nr
Jm [kgm2] : Rotor inertia of the spindle motor
JL [kgm2] : Spindle load inertia (converted for the motor shaft)
5280~5284 3000
4065~4068 3000
4044~4045 10
4052~4053 10
100
When the maximum speed for rigid tapping (in terms of motor axis) is higher than the base speed
of the spindle motor (No. 4100 for high-speed characteristics), set the value calculated from the
4085
following expression:
Spindle motor base speed (No.4100)
100
When the maximum speed for rigid tapping (in terms of motor axis) is higher than the base speed
of the spindle motor (No. 4138 for low-speed characteristics), set the value calculated from the
4137
following expression:
Spindle motor base speed (No.4138)
0
4016#4
Set this bit to 1 when setting parameter No. 4085 or 4137 to a value less than 100.
4099 300
0
4540#1
Set this bit to 1 when setting parameter No. 4085 or 4137 to a value less than 100.
(3) 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.
- 106 -
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: 4096
d-06 d-10 0 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
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.
No. 5204, #0 = 0 :
Displays the synchronous error on the diagnosis screen.
(4) Adjustment procedure

(4)-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.
- 107 -
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.
(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)
(4)-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
- 108 -
(4)-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
(4)-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

2048 min-1 / div 2048 min-1 / div
(4)-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
- 109 -
(4)-6Making adjustments for FSSB high-speed rigid tapping

In conventional method rigid tapping, if the spindle torque at acceleration/deceleration is saturated, the
synchronous error becomes worse extremely. The acceleration/deceleration time constant must therefore
be adjusted to a value with an adequate margin with respect to the spindle torque of 100%.
In contrast, FSSB high-speed rigid tapping is a method by which the servo follows up the spindle, so it is
possible to prevent the synchronous error from becoming worse even when the spindle torque is saturated
to some degree. The cycle time can be shorter than ever before by adjusting the acceleration/deceleration
time constant so that a torque command for tapping at the maximum possible load can be used as closely
as possible to 100%.
If FSSB high-speed rigid tapping is used when the torque is saturated extremely, the synchronous error
does not become much worse. However, an overshoot may occur at a hole bottom. Ensure that no
overshoot occurs, and then adjust the acceleration/deceleration time constant. In addition, when the
optimum rigid tapping acceleration/deceleration function (option) is also used, the spindle torque can
always be used up to the limit according to the tapping speed, so the effect of FSSB high-speed rigid
tapping is further enhanced.

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.

(c) For Series 15i
(d) For Series 0i
(f) For Series 0i-D
(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
0455 Difference of move command converted for the spindle (instantaneous) Pulse
0456 Difference of position error converted for the spindle (instantaneous) Pulse
0457 (In terms of spindle) Width of synchronous error (maximum) Pulse
- 110 -
Note
Note the following data:
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)
The data is displayed only when bit 0 (DGN) of parameter No. 5204 is set to 0.
Usually, set 0.
(2) Series 30i

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
0455 Difference of move command converted for the spindle (instantaneous) Pulse
0456 Difference of position error converted for the spindle (instantaneous) Pulse
0457 (In terms of spindle) Width of synchronous error (maximum) Pulse
(3) Series 15i

1600 Position error pulse of the spindle (instantaneous) Pulse
1601 Position error pulse of the spindle (maximum) Pulse
1602 Position error pulse of the tapping axis (instantaneous) Pulse
1603 Position error pulse of the tapping axis (maximum) Pulse
1604 (Value converted for the spindle) Width of synchronous error (instantaneous) Pulse
1605 (Value converted for the spindle) Width of synchronous error (maximum) Pulse
2.3.12 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.

(c) For Series 15i
(d) For Series 0i
(f) For Series 0i-D
- 111 -
(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

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, or the synchronous error is larger than the setting of No. 5214.
742 Spindle LSI overflow (error counter overflow)
(2) Series 30i

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

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

An attempt was made to execute an instruction that uses the spindle although the spindle to be
PS0223
controlled has not been set correctly.
- 112 -
When the feedrate instruction contains valid data below the decimal point, the alarm is set and the
PS0531
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 the
PS0532
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 per
PS0533
single rotation mode (G95).
The feedrate for the hole drilling axis calculated from the F and S codes is too fast in the feed per
PS0534
rotation mode (G95).
The feedrate for the hole drilling axis calculated from the E and S codes is too slow in the feed per
PS0535
The feedrate for the hole drilling axis calculated from the E and S codes is too fast in the feed per
PS0536
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 pulses
PS0543
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.
(b) Spindle alarm (SP alarm)

SP0224 The spindle-position coder gear ratio was incorrect.
SP0231 The position error during spindle rotation was greater than the value set in parameter (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.
- 113 -
2.4 Cs CONTOURING CONTROL (OPTIONAL FUNCTION)

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
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 αiMZ sensor, αiBZ sensor, αiCZ sensor (analog, serial), 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.
- 114 -
NOTE
To use this function, the CNC software option is required.

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

JYA2 Spindle
α position coder S
SP
TYPE B
JYA4
Spindle+
Built-in motor
JYA2
SP
TYPE A
SP
TYPE A
Spindle+
JYA3 circuit
Thermistor
- 115 -
NOTE
In a configuration in which the αiCZ sensor (serial) is used as a motor sensor, to
start Cs contouring control immediately after the power on, use spindle software
9D80 series H (08) edition or later, 9D90 series A (01) edition or later, or 9DA0
edition A (01) or later.
αiMZ sensor
JYA2 Spindle
SP
TYPE A
(analog) is used
JYA2
Spindle
SP
TYPE B
- 116 -

JYA2
SP
TYPE A
Detection
Spindle
circuit
JYA3
NOTE
In a configuration in which the αiCZ sensor (serial) is used as a spindle sensor, to
start Cs contouring control immediately after the power on, use spindle software
9D80 series H (08) edition or later, 9D90 series A (01) edition or later, or 9DA0
edition A (01) or later.

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.

Refer to Section 9.9, “Cs CONTOUR CONTROL.”
(c) For Series 15i
(d) For Series 0i
(f) For Series 0i-D
Part I.
- 117 -

(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
: :
(d) Common to CNCs

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G226 G071 G071 INTGA

2nd- G234 G075 G075 INTGB

(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
(b) Series 30i

#7 #6 #5 #4 #3 #2 #1 #0
F034 GR3O GR2O GR1O
(*1) (*1) (*1)
F044 FSCSL
NOTE
- 118 -
(c) Series 15i

#7 #6 #5 #4 #3 #2 #1 #0
F064 ZP1
F068 ZP2
: :
F067 MSCNTR1
F071 MSCNTR2
: :

(Example 1) During normal operation
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.
4 For Cs contouring control, use either of the SFR and SRV signals.
5 In the Cs contouring control mode, do not change the SFR (SRV) signal.
- 119 -
(Example 2) When a spindle alarm is issued

Cs contouring
control mode Velocity control mode
Spindle rotation command
SFR/SRV
Cs contouring control
mode command
FS16i/30i : CON
FS15i : SCNTRx
1
Spindle alarm signal
(ALMA) 0 0
1
Spindle alarm reset signal
(ARSTA) 0 0
Remove cause
of alarm
Motor speed
Decelerated
and stopped
Not operated even when Usable

command is issued
NOTE
1 If a spindle alarm is issued, release the Cs contouring control mode. Resetting
the alarm without releasing the mode and restarting operation may cause a miss
positioning.
2 With the following series and editions, the alarm reset signal is valid only in the
velocity control mode (in other modes, inputting the alarm reset signal does not
release the alarm):
9D50 series P (16) edition or later
9D70 series G (07) edition or later
9D80 series A (01) edition or later
9DA0 series A (01) edition or later
2.4.6 Velocity Loop Gains Override Function on Cs Contouring

Control Mode
2.4.6.1 Series and Editions of Applicable Spindle Software
Spindle software
Series Edition Usable CNC
9D50 S (19) FS16i / FS18i / FS21i , FS0i , FS15i
9D70 I (09) FS30i / FS31i / FS32i
9D80 C (03) FS16i / FS18i / FS21i , FS0i , FS15i , FS30i / FS31i / FS32i
9D90 A (01) FS16i / FS18i / FS21i , FS0i , FS15i , FS30i / FS31i / FS32i
9DA0 A (01) FS0i , FS30i / FS31i / FS32i
- 120 -
2.4.6.2 Block diagram

Shown below is a block diagram of the velocity loop for Cs contouring control mode.
The velocity loop gains override function is used to override the velocity loop gain on Cs contouring
control mode according to load inertia changes.
No.4342(CTH1A=0)
No.4343(CTH1A=1)
Override
No.4046(CTH1A=0)
Velocity command No.4047(CTH1A=1) Torque command
+ +
Position Proportional gain
control - +
Normal No.4054(CTH1A=0)
Velocity position No.4055(CTH1A=1)
+
feedback Integral gain 1/S
+
No.4162(CTH1A=0)
No.4163(CTH1A=1)
Cs cutting feed mode and
No.4162(CTH1A=0) ≠0 Integral gain for
or No.4163(CTH1A=1) ≠ 0 cutting feed
NOTE
The override function is effective only for Cs contouring control mode (override
fixed at 100% for the other modes).

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#0 1006#0 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
- 121 -
Parameter No.
Description
15i 16i 30i
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 3901 to
3904 3904
3911 to 3911 to
3914 3914
3921 to 3921 to Position gain of a servo axis subject to interpolation with the Cs contouring
-
3924 3924 control axis
3931 to 3931 to
3934 3934
3941 to 3941 to
3944 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
3000#3 4000#3 4000#3
Whether to use the rotation direction signal (SFR/SRV) function on Cs
3002#4 4002#4 4002#4
contouring control
3005#0 4005#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.
Setting related to the motor voltage control characteristics on Cs
3016#4 4016#4 4016#4
contouring control or 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
Spindle-to-motor gear ratio
4056 to 4056 to
3056 to 3059 (A parameter is selected by the CTH1A and CTH2A input signals sent
4059 4059
from the PMC.)
4069 to 4069 to Position gain for axes subject to Cs contouring control
3069 to 3072
4072 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
- 122 -
Parameter No.
Description
15i 16i 30i
3162 4162 4162 Velocity loop integral gain for cutting feed on Cs contouring control
3342 4342 4342 Velocity loop gain override in Cs contouring control.
3343 4343 4343 (These parameters are selected by the input signal CTH1A of PMC.)
- 4353#5 4353#5 Sets the Cs axis position data transfer function.
Acceleration/deceleration time constant at return to the reference position
3406 4406 4406
in Cs contouring control/servo mode
Setting related to motor voltage control characteristics on Cs contouring
－－ 4540#0
control
Variable proportional gain function in the stop state for Cs control:
－－ 4598
magnification in the stop state
Variable proportional gain function in the stop state for Cs control:
－－ 4599
judgment level for the stop state
NOTE

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
(c) For Series 15i
(d) For Series 0i
(f) For Series 0i-D
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)
- 123 -
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).
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) The spindle rotates clockwise when input signal SRV(G70#4) is set to 1.
(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.
SFR/SRV = 1, the spindle rotates in the CW direction.
15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3005 4005 4005 CS360M
CS360M Sets the detection unit for Cs contouring control.

0 : 0.001°
1 : 0.0001°
Set 0 usually. When a αiCZ sensor (analog, serial) 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.
- 124 -
This bit specifies whether to use the smoothing function under feed-forward control on
Cs contouring control mode.
IDLPTN Setting related to the motor voltage control characteristics on Cs contouring control or
servo mode (rigid tapping)
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)

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

Unit of data : 1%
Set the feed-forward coefficient when feed-forward control is executed on Cs contouring
control.
15i 16i 30i

Unit of data :
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:
Setting = 214466 ×
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 :
These parameters specify the proportional gains of the velocity loop on Cs contouring
control mode.
- 125 -
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 :
These parameters specify the integral gains of the velocity loop for Cs contouring control
mode.
15i 16i 30i


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.
signals.
NOTE
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

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

- 126 -
• 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.
The value set in this parameter is used as a reference position return speed on Cs
contouring control.
NOTE
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%
Set the motor voltage to “100”, when Cs contouring control is in operation.
NOTE
When the maximum speed for Cs contouring control (in terms of motor axis) is
higher than the base speed of the spindle motor (No. 4100 for high-speed
characteristics and No. 4138 for low-speed characteristics), set a value less than
"100" in this parameter.
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 parameter No. 4016 to "1" as the
setting related to motor voltage 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%
This parameter specifies a rate of change in the position gain used for reference position
return on Cs contouring control mode.
NOTE
- 127 -
15i 16i 30i

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

3097 4097 4097 Spindle speed feedback gain
Unit of data :
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

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.
about 300 to 400 (300 to 400 msec).
- 128 -
15i 16i 30i

Unit of data : 0.1ms

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
(-3,600,000 to +3,600,000 when bit 0 (CS360M) of parameter No. 4005 is set to 1)
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 :
These parameters set a velocity loop integral gain for cutting feed (G01, G02, G03) on Cs
contouring control.
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

3342 4342 4342 Velocity loop gain override in Cs contouring control (HIGH) CTH1A=0
3343 4343 4343 Velocity loop gain override in Cs contouring control (LOW) CTH1A=1
Unit of data : 1%
These parameters specify override of velocity loop proportional gain and integral gain for
If the set value is "0", it is treated as "100".
- 129 -
NOTE
This parameter is valid with
9D50 series S (19) edition or later
9D70 series I (09) edition or later
9D80 series C (03) edition or later
9DA0 series A (01) edition or later.
15i 16i 30i


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 9D50 series G (07) edition or later,
edition or later.
15i 16i 30i

3406 4406 4406 Acceleration/deceleration time constant for Cs contouring control/servo mode

This parameter set the reference position return acceleration for Cs contouring control or
- 130 -
Reference
position return
speed-1
(min )
parameter parameter
No. 4406 No. 4406
(msec) (msec)
NOTE
follows.
15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

- - 4540 EXPTCS
EXPTCS Setting related to motor voltage control characteristics on Cs contouring control

control (parameter No. 4086).
Bit 4 of parameter No. 4016 is valid for all of Cs contouring control, rigid tapping (servo
mode), and spindle synchronous control. Use this parameter to set each mode
independently.
This parameter is valid only when bit 4 of parameter No. 4016 = 0.
15i 16i 30i

- - 4598 Variable proportional gain function in the stop state for Cs control:
magnification in the stop state
Unit of data : 1%
Valid data range : 0~100 (0 means that the function is disabled.)
After a stop is checked in the Cs contouring control state, the variable proportional gain
function in the stop state for Cs control suppresses vibration in the stop state by
decreasing the velocity loop proportional gain to the level specified with the relevant
parameter. In this parameter, set a magnification of the gain to be applied in the stop state.
The function is enabled when a value other than 0 is set in this parameter.
15i 16i 30i

- - 4599 Variable proportional gain function in the stop state for Cs control: judgment
level for the stop state
Unit of data : Detection unit (0.001° (when bit 0 of parameter No. 4005 = 0), 0.0001° (when bit 0 of
parameter No. 4005 = 1))
- 131 -
This parameter is used for stop state judgment in the Cs control state. After a move
command for the Cs axis has become 0 and the time five times the reciprocal of the set
position gain has elapsed, the spindle is regarded as being stopped when the position error
becomes lower than or equal to the level set in this parameter.
Setting example) In parameter No. 4599, set a value larger than the absolute value of the
position error of vibration in the stop state, and in parameter No. 4598, adjust a
magnification in the stop state in a range of 25% to 90%.
2.4.9 Adjusting Cs Contouring Control

2.4.9.1 Overview
In recent years, a high-resolution spindle sensor such as the αiCZ sensor has been used for a built-in
spindle motor, enabling high-precision Cs contouring control. To enable this type of control, this
Subsection describes how to make adjustments to improve servo characteristics (responsiveness and
stability) for Cs contouring control.
[Example of the use of the αiCZ sensor]

αiSP
Spindle+
JYA3
circuit
Thermistor
2.4.9.2 Adjustment Procedure

To improve servo characteristics for Cs contouring control, make adjustments by following the
adjustment procedure below.
(1) Before adjusting the velocity loop gains, change the torque command filter setting.
Torque command filter
Velocity
command Proportional
Motor
gain ＋
＋
－＋
Integral
gain 1/s
Velocity feedback
15i 16i 30i

3121 4121 4121 Torque command filter time constant
3157 4157 4157 Torque command filter time constant (for low-speed characteristics)
- 132 -
When automatic setting is performed, 5 is set in the parameter of the torque command
filter time constant. The standard value of 5 is set assuming that a low-resolution sensor is
used.
When using a high-resolution spindle sensor such as the αiCZ sensor, change this value,
with 2 as a guideline, to improve the responsiveness of the velocity loop.
After changing this value, operate the axis and check to see if an abnormality such as an
unusual sound occurs.
(2) Next, adjust the velocity loop gains.

Override
Velocity
Torque
command
command
Position Proportional
control + gain
+
- +
Integral gain 1/S
Velocity feedback
15i 16i 30i

3046 4046 4046 Velocity loop proportional gain on Cs contouring control
(CTH1A=0)
3047 4047 4047 Velocity loop proportional gain on Cs contouring control
(CTH1A=1)
15i 16i 30i

3054 4054 4054 Velocity loop integral gain on Cs contouring control
(CTH1A=0)
3055 4055 4055 Velocity loop integral gain on Cs contouring control
(CTH1A=1)
15i 16i 30i

3342 4342 4342 Velocity loop gain override on Cs contouring control
(CTH1A=0)
3343 4343 4343 Velocity loop gain override on Cs contouring control
(CTH1A=1)
Set the motor model-specific standard values for the velocity loop proportional and
integral gains. (For an explanation of the motor model-specific standard parameters, see
Subsection 2.4.9.3.)
The velocity loop gain override is a parameter that should basically be set according to
the load inertial value.
JL [kgm2 ]
Vovr [%] = ( + 1 ) ×100
Jm [kgm2 ]
Vovr [%] ：Velocity loop gain override
JL [kgm2] ：Spindle load inertia (converted for the motor shaft)
Jm [kgm2] ：Rotor inertia of spindle motor
Since this parameter serves as a magnification for both velocity loop proportional and
integral gains, however, set this parameter value as large as possible in order to improve
the responsiveness of the entire velocity loop. Be sure to adjust the final setting to
approximately 80% of the oscillation limit.
- 133 -
Parameter Setting data

Velocity loop proportional gain Motor model-specific standard value
Velocity loop Integral gain Motor model-specific standard value
Velocity loop gain override Adjusted value
When the values calculated from the above expression are set, and if any of the following
oscillations occurs because, for example, the rigidity of the spindle is low, decrease the
override to a value with a margin.
・ The vibration sound of spindle occurs.
・ Vibration of a torque command becomes large.
・ Vibration of position error becomes large in the stop state.
When you can use the SERVO GUIDE, you should measure velocity loop frequency
response, and make adjustments to increase the gains while observing the response.
Basically, increase the velocity loop gain override to increase the response band. If there
is a rise in the gain characteristic at a frequency near 40 to 70 Hz, however, make an
adjustment to decrease the velocity loop integral gain slightly. The guideline for a rise is
approximately 5 dB.
Example) Rise in the gain characteristic
(3) Finally, adjust the position loop gain.

Determine the position gain limit value while observing low-frequency vibration when the motor is
stopped and when the motor rotates. Since the position gain is generally suited to the servo axis for
simultaneous contouring control, it cannot be determined from the characteristic for the Cs axis only;
consider the guideline for the setting of the Cs axis as approximately 80% of the limit value.
When you can use the SERVO GUIDE, you can measure velocity loop frequency response, check
the cut-off frequency, and know the guideline for the position gain setting from that frequency.
In the Bode diagram, the cut-off frequency is a frequency with a phase of -90°.
When a built-in spindle motor is used and the cut-off frequency is F (Hz), the guideline for the
position gain limit value is F (s-1) or greater.
Example) Frequency response of a built-in spindle motor
- 134 -
Cut-off frequency of 100 Hz
In the above example, the cut-off frequency is 100 Hz, and it is therefore likely that a position
gain of 100 s-1 or greater can be ensured.
2.4.9.3 Standard parameters of velocity loop gain for Cs contouring

control for each motor model
NOTE
1 If the motor model is not included in the list , calculate gain according the
following equation.
No. 4046 (or No. 4047) = 30159/ (Tmax/Jm)
No. 4054 (or No. 4055) = 280735/ (Tmax /Jm)
where
(For αi series spindle motors)
Tmax = Short time rated torque at constant torque range × 1.2 [Nm]
(For βi series spindle motors)
Tmax = Short time rated torque at constant torque range × 1.1 [Nm]
Jm = Motor rotor inertia [kgm2]
2 Set the standard value in parameters (Nos. 4046/4047 and Nos. 4054/4055) for
the selected winding (high-speed/low-speed).
(a) SPINDLE MOTOR αi I

Velocity loop proportional gain Velocity loop Integral gain
Motor model
No.4046/ No.4047 No.4054/ No.4055
αi I 0.5/10000 3 30
αi I 1/10000 10 98
αi I 1.5/10000 5 42
αi I 2/10000 8 75
αi I 3/10000 10 90
αi I 6/10000 9 88
αi I 8/8000 10 92
αi I 12/7000 18 171
αi I 15/7000 18 165
αi I 18/7000 19 175
- 135 -

Motor model
No.4046/ No.4047 No.4054/ No.4055
αi I 22/7000 18 167
αi I 30/6000 24 223
αi I 40/6000 31 287
αi I 50/4500 24 223
αi I 1/15000 11 100
αi I 1.5/15000 8 71
αi I 2/15000 7 65
αi I 3/12000 10 90
αi I 6/12000 (Low-speed winding) 9 83
αi I 6/12000 (High-speed winding) 20 183
(b) SPINDLE MOTOR αi IP series

Motor model
No.4046/ No.4047 No.4054/ No.4055
αi IP 12/8000 12 114
αi IP 12/8000 18 171
αi IP 15/6000 13 122
αi IP 15/8000 20 184
αi IP 18/6000 10 95
αi IP 18/8000 18 167
αi IP 22/6000 11 104
αi IP 22/8000 17 155
αi IP 30/6000 (Low-speed winding) 17 156
αi IP 30/6000 (High-speed winding) 24 224
- 136 -
(c) SPINDLE MOTOR αi IT series

Motor model
No.4046/ No.4047 No.4054/ No.4055
αi IT 1.5/15000 4 35
αi IT 2/15000 6 52
αi IT 3/12000 12 107
αi IT 6/12000 (Low-speed winding) 13 121
αi IT 6/12000 (High-speed winding) 7 63
(d) SPINDLE MOTOR αi IL series

Motor model
No.4046/ No.4047 No.4054/ No.4055
αi IL 8/20000 (Low-speed winding) 10 92
αi IL 8/20000 (High-speed winding) 24 224
(e) PINDLE MOTOR αi I series (400V)

Motor model
No.4046/ No.4047 No.4054/ No.4055
αi I 0.5/10000HV 3 30
αi I 1/10000HV 10 91
αi I 1.5/10000HV 5 42
αi I 2/10000HV 8 71
αi I 3/10000HV 10 92
αi I 6/10000HV 9 85
αi I 8/8000HV 10 96
αi I 12/7000HV 18 171
αi I 15/7000HV 14 131
αi I 22/7000HV 19 179
αi I 30/6000HV 24 224
αi I 40/6000HV 32 302
αi I 60/4500HV 20 184
αi I 100/4000HV (Low-speed winding) 26 240
αi I 100/4000HV (High-speed winding) 52 480
- 137 -
(f) SPINDLE MOTOR αi IP series (400V)

Motor model
No.4046/ No.4047 No.4054/ No.4055
αi IP 15/6000HV (Low-speed winding) 13 122
αi IP 15/6000HV (High-speed winding) 20 184
(g) SPINDLE MOTOR αi IT series(400V)

Motor model
No.4046/ No.4047 No.4054/ No.4055
αi IT 1.5/15000HV 15 143
αi IT 2/15000HV 17 155
αi IT 3/12000HV 3 29
αi IT 6/12000HV (Low-speed winding) 9 88
αi IT 6/12000HV (High-speed winding) 25 234
(h) SPINDLE MOTOR αi IL series(400V)

Motor model
No.4046/ No.4047 No.4054/ No.4055
αi IL 8/20000HV (Low-speed winding) 10 92
αi IL 8/20000HV (High-speed winding) 24 224
- 138 -
(i) SPINDLE MOTOR BiI series (standard type)

Motor model
No.4046/ No.4047 No.4054/ No.4055
BiI 50L/25000 1 13
BiI 80S/20000 (Low-speed winding) 11 100
BiI 80S/20000 (High-speed winding) 11 106
BiI 80M/15000 11 100
BiI 80L/8000 4 40
BiI 100S/12500 9 79
BiI 112SS/20000 (Low-speed winding) 4 38
BiI 112SS/20000 (High-speed winding) 19 178
BiI 112M/15000 9 88
BiI 112L/15000 (Low-speed winding) 5 44
BiI 112L/15000 (High-speed winding) 13 122
BiI 112LL/15000 (Low-speed winding) 5 44
BiI 112LL/15000 (High-speed winding) 12 109
BiI 132M/14000 (Low-speed winding) 4 39
BiI 132M/14000 (High-speed winding) 14 133
- 139 -
(j) SPINDLE MOTOR BiI series (high-speed type)

Motor model
No.4046/ No.4047 No.4054/ No.4055
BiI 40S/70000 20 183
BiI 80S/40000 17 159
(k) SPINDLE MOTOR βiI series

Motor model
No.4046/ No.4047 No.4054/ No.4055
βiI 3/10000 6 28
βiI 6/10000 8 40
βiI 8/10000 7 33
βiI 12/10000 8 37

Address
Description Unit
15i 16i 30i
－ 0418 － Position error value of the first spindle Pulse
1540 － 0418 Position error value of the spindle Pulse
2.4.11 Alarm
This Subsection provides a list of the alarms related to Cs contouring control only. For details of alarms,
(c) For Series 15i
(d) For Series 0i
- 140 -

(f) For Series 0i-D
(1) Series 16i

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

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

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.
- 141 -
2.5 SPINDLE SYNCHRONOUS CONTROL (OPTIONAL

FUNCTION)

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.
- 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.
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
- 142 -
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.

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)
30i/31i/32i –MODEL A CONNECTION MANUAL (FUNCTION) (B-63943EN-1)
- 143 -
1t spindle
CNC (or αiMZ sensor)
JA7B Spindle
JYA2 αi position coder
SP
TYPE A
JYA3
JA7A
2nd spindle
(or αiMZ sensor)
JA7B Spindle
SP
TYPE A
JYA3

- 144 -
1st spindle
JA7B Spindle
JYA2 α position coder S
SP
TYPE B
JYA4
JA7A
2nd spindle
(or αiMZ sensor)
JA7B Spindle
JYA2
α position coder S
SP
TYPE B
JYA4

- 145 -
αiBZ sensor or 1st spindle

αiCZ sensor (analog)
CNC
Spindle +
Built-in motor
JA7B
JYA2
SP
TYPE A
JA7A
αiBZ sensor or 2nd spindle

αiCZ sensor (analog)
Spindle +
Built-in motor
JA7B
JYA2
SP
TYPE A
- 146 -
CNC
1st spindle
JA7B

SP
TYPE A
Spindle +
JYA3
JA7A circuit
Thermistor
2nd spindle
JA7B
SP αiCZ sensor (serial)

TYPE A
Spindle +
Detection
JYA3 Built-in motor
circuit
Thermistor
- 147 -
1st spindle
Spindle motor with built-in αiMZ sensor
CNC
JA7B Spindle
JYA2
SP
TYPE A
JA7A Directly connected or connected with a gear or timing

2nd spindle
JA7B Spindle
JYA2
SP
TYPE A

- 148 -
(analog) is used
1st spindle
(or αiMZ sensor)
CNC
JA7B Spindle
JYA2
SP
TYPE B
JYA4
JA7A αiBZ sensor or αiCZ sensor (analog)
2nd spindle
(or αiMZ sensor)
JA7B Spindle
JYA2
SP
TYPE B
JYA4
- 149 -
1st spindle
CNC
(or αiMZ sensor)
JA7B
JYA2
SP
TYPE A
Detection
JYA3 Spindle
circuit
JA7A
2nd spindle
(or αiMZ sensor)
JA7B
JYA2
SP
TYPE A
JYA3 Detection Spindle
circuit
- 150 -
1st spindle
(or αiMZ sensor)
CNC
Spindle
JA7B
JYA2
SP
TYPE A
switch)
JYA3 Gear or timing belt
JA7A
2nd spindle
(or αiMZ sensor)
Spindle
JA7B
JYA2
SP
TYPE A
switch)
NOTE
following:
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.
- 151 -

(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.
NOTE
For details, see below:
16i/18i/21i -MODEL B CONNECTION MANUAL (FUNCTION) (B-63523EN-1).
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).
- 152 -

16i 30i #7 #6 #5 #4 #3 #2 #1 #0
Common G038 G038 SPPHS SPSYC
to all axes
Common G032 G032 R08I R07I R06I R05I R04I R03I R02I R01I
to all axes
Common G033 G033 SSGN R12I R11I R10I R09I
to all axes
1st- G070 G070 SFRA SRVA CTH1A CTH2A

2nd- G074 G074 SFRB SRVB CTH1B CTH2B
1st- G071 G071 INTGA

2nd- G075 G075 INTGB

(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.
(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.
- 153 -
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.

16i 30i #7 #6 #5 #4 #3 #2 #1 #0
Common to F044 F044 SYCAL FSPPH FSPSY
all axes
1st- F045 F045 SARA

2nd- F049 F049 SARB

(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.
(b) Spindle phase synchronous control completion signal FSPPH

[Function]
Posts that spindle phase synchronous control (phase matching) is completed.
[Output condition]
- 154 -
(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.
(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]
(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.
(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.
- 155 -

(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)
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.
- 156 -
(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)
FSPSY
(iv)
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.
- 157 -
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.
(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

FSPSY
Chuck close command signal
Chuck close completion signal
Velocity integral control signal

INTGA
(Note) (Note)
Spindle phase
synchronous control signal
SPPHS
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.
- 158 -
(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
-1 (i)
0min
First spindle forward

rotation command
SFRA
Second spindle forward

rotation command
SFRB

command signal
-1
R12I-R01I 0min
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
(i) When a spindle synchronous command is input, the one-rotation signal detection operation is not
performed, and the spindle is stopped.
(ii) 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.
(iii) 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.

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 which to output the spindle phase
4810 4810
synchronous control completion signal
- 159 -
Parameter No.
Description
16i 30i
Error pulse difference between the two spindles for which to output the phase
4811 4811
synchronous error monitor signal (SYCAL)
Whether to enable the rotation direction signal (SFR/SRV) function on spindle
4002#6 4002#6
synchronous control
4001 4001 Lower limit setting of the acceleration for polygon machining with two spindles
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
－ 4540#3 Setting related to motor voltage control characteristics on spindle synchronous control
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
Velocity loop proportional gain for spindle synchronous control
4044
4044 (A parameter is selected by the CTH1A PMC input signal.)
4045
4045 * When parameter No. 4550 ≠ 0 (No. 4551 ≠ 0), parameter No. 4550 (No. 4551) is
(*)
valid.
Velocity loop integral gain for spindle synchronous control
4052
4053
4053 * When parameter No. 4552 ≠ 0 (No. 4553 ≠ 0), parameter No. 4552 (No. 4553) is
(*)
valid.
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 (The same value must be specified for both the 1st and 2nd spindles.)
4065 to 4068
(*) (A parameter is selected by the CTH1A and CTH2A PMC input signals.)
* When parameters Nos. 4554 to 4557 ≠ 0, parameters Nos. 4554 to 4557 are valid.
Motor voltage for spindle synchronous control (for high-speed characteristics)
4085 4085 (*)
* When parameter No. 4558 ≠ 0, parameter No. 4558 is valid.
4137 4137 (*) Motor voltage for spindle synchronous control (for low-speed characteristics)
* When parameter No. 4559 ≠ 0, parameter No. 4559 is valid.
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
4550 Velocity loop proportional gain for spindle synchronous control
－
4552 Velocity loop integral gain for spindle synchronous control
－
－ 4554～4557 (The same value must be specified for both the 1st and 2nd spindles.)
－ 4558 Motor voltage for spindle synchronous control (for high-speed characteristics)
－ 4559 Motor voltage for spindle synchronous control (for low-speed characteristics)
- 160 -
NOTE
2.5.8 Spindle Parameters for Rigid Tapping and Spindle

Synchronous Control
Of the spindle parameters for rigid tapping (servo mode) and spindle synchronous control, the velocity
loop gains, position gains, and motor voltages can be set individually. The settings to be used exclusively
for spindle synchronous control can be made in parameters Nos. 4550 to 4559; when the parameters ≠ 0,
these parameters are valid for spindle synchronous control, and when the parameters = 0, the common
parameters are valid as usual.
(1) Related Parameters

Rigid tapping Spindle Condition
synchronous
control
Velocity loop proportional gain (HIGH) No.4044 No.4550＝0
No.4044
CTH1A=0 No.4550 No.4550≠0
Velocity loop proportional gain (LOW) No.4045 No.4551＝0
No.4045
CTH1A=1 No.4551 No.4551≠0
Velocity loop integral gain (HIGH) No.4052 No.4552＝0
No.4052
CTH1A=0 No.4552 No.4552≠0
Velocity loop integral gain (LOW) No.4053 No.4553＝0
No.4053
CTH1A=0 No.4553 No.4553≠0
Position gain (HIGH) No.4065 No.4554＝0
No.4065
CTH1A=0,CTH2A=0 No.4554 No.4554≠0
Position gain (MEDIUM HIGH) No.4066 No.4555＝0
No.4066
CTH1A=0,CTH2A=1 No.4555 No.4555≠0
Position gain (MEDIUM LOW) No.4067 No.4556＝0
No.4067
CTH1A=1,CTH2A=0 No.4556 No.4556≠0
Position gain (LOW) No.4068 No.4557＝0
No.4068
CTH1A=1,CTH2A=1 No.4557 No.4557≠0
No.4085 No.4558＝0
Motor voltage (for high-speed characteristics) No.4085
No.4558 No.4558≠0
No.4137 No.4559＝0
Motor voltage (for low-speed characteristics) No.4137
No.4559 No.4559≠0

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.
Refer to Section 9.12, “SPINDLE SYNCHRONOUS CONTROL.”
(c) For Series 0i
- 161 -

(d) For Series 30i/31i/32i-B
(e) For Series 0i-D
16i 30i #7 #6 #5 #4 #3 #2 #1 #0
4001 4001 POLYM
POLYM The lower limit setting of the acceleration (parameter No. 4032) for polygon machining
with two spindles is:
0 : Normal setting
For FS30i : 916
For FS16i : 229
1 : Extended setting
For FS30i : 1
For FS16i : 1
NOTE
1. This parameter is valid with 9D5A series D (04) edition or later,
9D53 series R (18) edition or later, 9D70 series R (18) edition or
later, 9D80 series N (14) edition or later, 9D90 series B (02) edition
or later, and 9DA0 series A (01) edition or later.
2. Use this bit only when spindle software of any of the above series
and editions is applied to both spindle amplifiers for polygon
machining with two spindles. Do not set this bit to 1 if the software is
not applied.
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
(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.
(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

0 : 1/100 unit
1 : 1/1000 unit
- 162 -
(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
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 30i #7 #6 #5 #4 #3 #2 #1 #0
- 4540 EXPTSY
EXPTSY (#3) Setting related to motor voltage control characteristics on spindle synchronous control
Set this bit to 1 when setting a value less than 100 as the motor voltage on spindle
synchronous control (parameter No. 4085 (for high-speed winding) or No. 4137 (for
low-speed winding)).
This parameter is valid only when bit 4 of parameter No. 4016 = 0.
16i 30i
4032 4032 Acceleration at spindle synchronous control
- 163 -
Unit of data : 1min-1/sec (when parameter No. 4006#2 (SPDUNT) = 1, 10 min-1/sec)

This parameter is used for spindle synchronous control or polygon machining with two
spindles. For polygon machining with two spindles, when bit 1 (POLYM) of parameter
No. 4001 = 1, the allowable data range is not limited.
Data range
Spindle 0~32767
synchronous
control
Polygon POLYM =0 POLYM=1
machining FS16i, FS0i-D FS30i
with two SPDUNT=0 SPDUNT=1 SPDUNT=0 SPDUNT=1 0~32767
spindles 0, 229~32767 0, 23~32767 0, 916~32767 0, 92~32767
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
Unit of data : 1min-1 (when parameter No. 4006#2 (SPDUNT) = 1, 10 min-1)

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

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

This parameter reduces speed fluctuations when aligning phase of spindles in spindle
phase synchronous control.
- 164 -
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 :
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.
NOTE
When parameters Nos. 4550 and 4551 are set to values other than
0, the values set in parameters Nos. 4550 and 4551 are valid.
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 :
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.
NOTE
When parameters Nos. 4552 and 4553 are set to values other than
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

When the motor rotates 2.5 times for each turn of the spindle, for example, set 250 in the
parameter.
signals.
- 165 -
NOTE
gear ratio.
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

This sets position gain in spindle synchronous control. It is selected by CTH1A or
CTH2A of input signal.
NOTE
When parameters Nos. 4554, 4555, 4556, and 4557 are set to
values other than 0, the values set in parameters Nos. 4554, 4555,
4556, and 4557 are valid.
16i 30i
4085 4085 Motor voltage setting on spindle synchronous control (for high-speed
characteristics)
4137 4137 Motor voltage setting on spindle synchronous control (for low-speed
characteristics)
Unit of data : 1%
Standard setting : Depend on motor model.
Set a motor voltage for spindle synchronous control.
NOTE
1 Usually, set the same value as for the setting of a motor voltage
(No. 4083) on the velocity control mode.
2 When parameters Nos. 4558 and 4559 are set to values other than
16i 30i
4171 4171
CTH1A=0
4172 4172 CTH1A=0
4173 4173 CTH1A=1
4174 4174 CTH1A=1
Unit of data :
- 166 -
feedback signal.
No. 4171 (No. 4173 when CTH1A = 1) = P
No. 4172 (No. 4174 when CTH1A = 1) = Q
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)

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
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

This parameter sets a bell-shaped acceleration/deceleration time constant for spindle
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.
- 167 -
NOTE
Set the same data for the first spindle and second spindle. If
guaranteed.
16i 30i
Unit of data :
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)
This parameter sets a level for detecting the excessive speed deviation alarm under
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 (spindle 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 ratio (No.4056 to 4059)
- 168 -
NOTE
9D50 series N (14) edition or later
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)

This parameter sets a level for detecting the excessive positional deviation alarm under
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 (spindle 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
9D50 series N (14) edition or later
9D70 series D (04) edition or later
16i 30i
‐ 4550 Velocity loop proportional gain on spindle synchronous control (HIGH)
CTH1A=0
‐ 4551 Velocity loop proportional gain on spindle synchronous control (LOW)
CTH1A=1
Unit of data :
- 169 -
NOTE
9D80 series K (11) edition or later, 9D90 series A (01) edition or
later, and 9DA0 series A (01) edition or later.
2 When parameters Nos. 4550 and 4551 are set to 0, the values set
in parameters Nos. 4044 and 4045 are valid.
16i 30i
‐ 4552 Velocity loop integral gain on spindle synchronous control (HIGH) CTH1A=0
‐ 4553 Velocity loop integral gain on spindle synchronous control (LOW) CTH1A=1
Unit of data :
NOTE
16i 30i
‐ 4554 Position gain on synchronous control (HIGH) CTH1A=0, CTH2A=0
‐ 4555 Position gain on synchronous control (MEDIUM HIGH) CTH1A=0, CTH2A=1
‐ 4556 Position gain on synchronous control (MEDIUM LOW) CTH1A=1, CTH2A=0
‐ 4557 Position gain on synchronous control (LOW) CTH1A=1, CTH2A=1

NOTE
2 When parameters Nos. 4554, 4555, 4556, and 4557 are set to 0,
the values set in parameters Nos. 4056, 4057, 4058, and 4059 are
valid.
16i 30i
‐ 4558 Motor voltage setting on spindle synchronous control (for high-speed
characteristics of speed range switching)
‐ 4559 Motor voltage setting on spindle synchronous control (for low-speed
characteristics of speed range switching)
Unit of data : 1%
- 170 -

NOTE
2 Usually, set the same value as for the setting of a motor voltage
(No. 4083) on the velocity control mode.
2.5.10 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:
Spindle synchronization speed(min −1 ) 1
Number of errorpulses(pulse) = 4096(pulse / rev) × ×
60(sec) Position gain(sec −1 )
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).
- 171 -
2.5.11 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
(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
(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

Address
Description Unit
16i 30i
0414 - Position error on spindle synchronous control mode (1st spindle) Pulse
0415 - Position error on spindle synchronous control mode (2nd spindle) Pulse
0416 - Absolute value of a synchronous error between the 1st spindle and
Pulse
2nd spindle
- 0418 Positional error of each spindle in spindle synchronous control mode Pulse
- 0425 Synchronous error of each spindle in spindle synchronous control
Pulse
mode
2.5.13 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.
(c) For Series 0i
- 172 -

(d) For Series 30i/31i/32i-B
(e) For Series 0i-D
(1) Series 16i

194 Cs contouring control is specified in serial spindle synchronous control mode.
(2) Series 30i

PS194 Cs contouring control is specified in serial spindle synchronous control mode.
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.

This Subsection provides a list of the I/O signals related to spindle speed control only. For details of each

(c) For Series 15i
(d) For Series 0i
(f) For Series 0i-D
Part I.
- 173 -

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

NOTE
(b) Series 30i

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

NOTE
(c) Series 15i

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


- 174 -
(d) Common to CNCs

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G226 G071 G071 *ESPA ARSTA

2nd- G234 G075 G075 *ESPB ARSTB
1st- G228 G073 G073 DSCNA MPOFA

2nd- G236 G077 G077 DSCNB MPOFB

(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)
F037 R12O R11O R10O R09O
NOTE
(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)
F037 R12O R11O R10O R09O
NOTE
- 175 -
(c) Series 15i

#7 #6 #5 #4 #3 #2 #1 #0
Common to F008 SF
all axes
all axes
all axes
all axes
all axes
Common to F045 SRSRDY
all axes
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 EXOFA PC1DTA

2nd- F247 F051 F051 EXOFB PC1DTB
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
- 176 -
(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.
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.
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
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
3118 4118 4118
deceleration 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
- 177 -
Parameter No.
Description
15i 16i 30i
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
(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
3009#2 4009#2 4009#2 Motor power turn-off method when spindle alarm 24 (serial data
transfer error) is issued
3087 4087 4087 Overspeed 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
3464 4464 4464 Velocity command-dependent over speed (spindle alarm 92)
detection offset level
3465 4465 4465 Excessive speed deviation level 2
3466 4466 4466 Excessive speed deviation detection time 2
3527 4527 4527 Temperature difference between warning level and alarm level
(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.)
5850 ⎯ ⎯ Spindle number selected at power-on/reset time
3001#0 4001#0 4001#0 Whether to use the MRDY signal (machine ready signal)
3009#0 4009#0 4009#0 Velocity loop gain increment system
3009#4 4009#4 4009#4
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
3395#3 4395#3 4395#3 Sets parameter transfer from the CNC to spindle software.
3022 4022 4022 Speed arrival detection signal
3025 4025 4025 Torque limitation value.
- 178 -
Parameter No.
Description
15i 16i 30i
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
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
(c) For Series 15i
(d) For Series 0i
(f) For Series 0i-D

Usually, the settings of the motor parameters specific to spindle motor driving need not be changed. Their
details are omitted.

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 spindle 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.
- 179 -
Set this parameter to 1 to turn off the power to the motor immediately when any spindle
alarm is issued
15i 16i 30i

Unit of data : 1%
This parameter sets an overspeed level.
When the speed exceeds [maximum motor speed (No. 4020) × setting data (%)], the
overspeed alarm (spindle alarm 07) is issued.
WARNING
Make sure this parameter is set to the standard setting value. Do
not change the value.
15i 16i 30i


This parameter sets a velocity error excess (spindle 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 (spindle
alarm 31) is issued.
15i 16i 30i

Unit of data : 0.1%

This parameter sets a velocity error excess detection level when the motor is rotating.
data (%)] occurs, the velocity error excess alarm (spindle alarm 02) is issued.
15i 16i 30i

Unit of data : 1%
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 (spindle alarm 29) is
issued.
15i 16i 30i

- 180 -
Unit of data : 1sec

This parameter sets the timing for detecting the short-time overload alarm (spindle alarm
29).
If the state where a load equal to or greater than the specified value (set in parameter No.
4090) is imposed on the spindle motor lasts for at least the period specified in this
parameter, the short-time overload alarm (spindle alarm 29) is issued.
15i 16i 30i

3464 4464 4464 Velocity command-dependent over speed detection offset level
Unit of data : 0.1%

Valid data range : -1, 0 to 500
This parameter sets the offset speed level for detecting the over speed (spindle alarm 92)
according to the velocity command.
When the spindle motor reaches the velocity command plus the maximum motor speed
(No. 4020) × setting data% the velocity command-dependent over speed alarm (spindle
alarm 92) is issued. This detection level is automatically updated if the velocity command
increases or changes to 0 or if control mode (such as speed mode or orientation mode)
changes.
If the setting is "0", the offset level is 15%.
If spindle alarm 92 must be invalidated temporarily for adjustment and other purposes, set
this parameter to "-1 (alarm 92 is invalid)".
NOTE
9D50 series R (18) edition or later
9D70 series H (08) edition or later
9D80 series B (02) edition or later
15i 16i 30i

Unit of data : If the setting is positive, 1 min-1

(When bit 2 (SPDUNT) of parameter No. 4006 is 1, 10 min-1)
If the setting is negative: 0.1%
This parameter sets the alarm level for excessive speed deviation alarms (spindle alarms
02 and 31) in units of 1 min-1 (motor speed) or as a ratio to the motor velocity command.
Depending on the setting of this parameter, the alarm level (min-1) for the excessive speed
deviation alarms is as follows:
- If the setting is positive: Setting of parameter No. 4465 (min-1)
- If the setting is negative: |Velocity command × Setting of parameter No. 4465/1000|
(min-1)
If the setting is "0", this parameter is excluded from the excessive speed deviation alarm
detection conditions.
- 181 -
NOTE
9D80 series C (03) edition or later.
15i 16i 30i

Unit of data : 0.1sec

This parameter sets the period from the time the motor speed deviation exceeds the alarm
level of the excessive speed deviation alarm set in parameter No. 4465 until an excessive
speed deviation alarm (spindle alarm 02 or 31) is issued.
If the motor speed deviation goes below the alarm level within the period of time set in
this parameter, the period of time is reset.
NOTE
15i 16i 30i

Unit of data : 1K
This parameter sets the difference between motor overheat alarm detection temperature
and the warning detection temperature. If the parameter setting is 0, the spindle motor
overheat warning function is disabled.
While the motor temperature exceeds the warning detection temperature, the motor
overheat warning (warning number 01) is issued.
Spindle alarm 01 detection level

Warning detection level (Main: No.4134, Sub: No.4310)l
Motor temperature
Parameter No.4527

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
- 182 -
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

0 : 1/100 unit
1 : 1/1000 unit
rotation
spindle rotation
Parameter No.
Description
15i 16i 30i
NOTE
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.
- 183 -
Increment system of
Parameter No.
parameter
Description
1 min-1 10 min-1
15i 16i 30i
unit unit
3020 4020 4020Maximum 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
3033 4033 4033 Spindle synchronous speed arrival level 1min-1 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
-1
3102 4102 4102 Excitation voltage saturation speed with no load 1min 10min-1
-1
3108 4108 4108 Current loop integral gain zero speed 1min 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
-1
3138 4138 4138 Base speed for motor output specification 1min 10min-1
3140 4140 4140 Excitation voltage saturation speed with no load 1min-1 10min-1
-1
3144 4144 4144 Current loop integral gain zero speed 1min 10min-1
-1
3160 4160 4160 Speed detection level hysteresis 1min 10min-1
NOTE
1 Usually, set the 1 min-1 unit (by setting the parameter to 0).
2 After changing the setting of this parameter, turn the CNC off, then on
again.
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
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

Set this parameter to 1.
- 184 -
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.

0 : Does not perform automatic parameter setting (standard setting value).
set to 0.
NOTE
0: Performs automatic parameter setting.
1: Does not perform automatic parameter setting.
15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3352 4352 4352 PKHALW
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.
- 185 -
NOTE
This parameter is valid with 9D50 series F (06) edition or later,
later, 9D90 A (01) edition or later, and 9DA0 series A (01) edition or
later.
15i 16i 30i

Standard setting value :Depends on the motor model.
15i 16i 30i

Unit of data : 0.1%

Standard setting value :150
15i 16i 30i

Unit of data : 0.1%

15i 16i 30i


15i 16i 30i

Unit of data : 1%
specified.
- 186 -

LOW(TLMLA) HIGH(TLMHA)
0 1 The torque is limited to the value set in this parameter.
1 1 parameter.
15i 16i 30i

Unit of data : 1%
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

Unit of data : 1%
15i 16i 30i


Example :
input signals.
NOTE
proper gear ratio.
- 187 -
15i 16i 30i

Unit of data : 0.1%

Valid data range : -1000 to +100 (-100% to +10%)
Set this parameter when making a fine adjustment of speedometer output voltage.
Positive (+) data increases the output voltage.
NOTE
15i 16i 30i

Unit of data : 0.1%

Valid data range : -1000 to +100 (-100% to +10%)
Set this parameter when making a fine adjustment of load meter output voltage.
NOTE
15i 16i 30i


This parameter sets a time constant for a filter to be applied to the velocity feedback
signal.
NOTE
15i 16i 30i

Unit of data :
Standard setting value :Depends on the motor model.
NOTE
15i 16i 30i

3345 4345 4345 Specified detection level of the spindle motor speed
Unit of data : 1 min-1

- 188 -
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

Unit of data :
Set this parameter to use incomplete integral function for velocity loop integral control.
NOTE
15i 16i 30i

Unit of data :
Valid data range : 0 to ±32767
NOTE

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.
“FANUC Series 16i/18i/21i-MODEL B MAINTENANCE MANUAL : B-63525EN
Refer to Section 1.8, “DISPLAYING DIAGNOSTIC PAGE.”
“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.”
(f) For Series 0i-D
(1) Series 16i

Address Description
400 Information including spindle control information
- 189 -
Address Description
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.
(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
(3) Series 15i

Address Description
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.
- 190 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI 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 spindle amplifier (SP)
via the CNC and the address for signals of the first spindle or second spindle. For other spindle-related
I/O signals, refer to the Connection Manual (Function) of the relevant CNC.

Refer to Chapter 9, “SPINDLE SPEED FUNCTION.”
(c) For Series 15i
Refer to Section 9.7, “SPINDLE SPEED FUNCTION.”
(d) For Series 0i
(f) For Series 0i-D
WARNING
1 Operation of each signal described in this chapter is not guaranteed if an alarm
is issued or if a hardware failure or abnormal operation occurs.
2 A signal described in this chapter can be used as a safety function only when it
is described that “the signal can be used as a safety function”.
CAUTION
Each signal described in this chapter is disabled and its operation is not
guaranteed after power-on until the parameters have been transferred from the
CNC to the spindle amplifier. After checking spindle operation ready signal
SRSRDY and other signals (refer to the Connection Manual for the relevant
CNC) to see the ready status, use the signals described in this chapter.
3.1 INPUT SIGNALS (PMC→CNC→SP)

This section describes the functions of the signals directly input from the PMC to spindle amplifier (SP)
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.
(c) For Series 15i
- 191 -
3.I/O SIGNALS (CNC↔PMC) FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08

(d) For Series 0i
(f) For Series 0i-D
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
3.1.2 Explanation of Input Signals

Symbol Name Description
These signals limit the output torque of the spindle motor.
Torque limit command The limit value is set in spindle parameter No. 4025.
TLMLA, B
LOW TLML TLMH
0 0 : Torque not limited
Torque limit command 0 1 : Limited to the parameter-set value
TLMHA, B 1 0 : Limited to about half of the parameter-set value
HIGH
1 1 : Limited to about half of the parameter-set value
- 192 -

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
These signals set the rotation direction of the spindle motor when viewed from
Reverse rotation the shaft side.
SRVA, B
command SRV SFR
0 0 : Stopped
Forward rotation 0 1 : Forward rotation (CCW: Counterclockwise direction)
SFRA, B 1 0 : Reverse rotation (CW: Clockwise direction)
command
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”
“0” to “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.
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
INDXA, B position change “0” changes from “1” to “0”, new position stop data is input,
command and a movement to the new position then a stop take
place.
- 193 -

Rotation direction This signal is used in orientation with the stop position set external setting
command at type.
ROTAA, B
orientation stop 0: CCW (counterclockwise)
position change 1: CW (clockwise)
This signal is used in orientation with the stop position set external setting
Shortcut command at
type.
NRROA, B orientation stop
0: The rotation direction depends on the ROTA signal setting.
position 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
Disconnection
motor.
DSCNA, B detection disable
0: Enables disconnection and overheat detection.
signal
1: Disables disconnection and overheat detection.
Differential speed 0: Disables differential speed mode.
DEFMDA, B
mode command signal 1: Enables differential speed mode.
Tandem operation 0: Disables tandem operation.
SLVA, B
command 1: Enables tandem operation.
3.1.3 Details of Input Signals

(a) Torque limit 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 limit command signals are set to 1, the torque limit state is entered. (Even when 1 is
specified during motor rotation, it becomes valid immediately.) As soon as the torque limit state is
entered, the torque limit status signal (TLMA) is output externally.
(5) When mechanical orientation is to be performed at the time of ATC of a machining center, the
power magnetic 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.
- 194 -
Example of a mechanical orientation sequence
Torque limit command TLMLA, TLMHA
Speed command at orientation

SFR/SRV
Command
(forward/reverse rotation command)
Torque limit status signal TLMA
Zero-speed
detection 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.

(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 common power supply (PS)) 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).
- 195 -
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.
CAUTION
This signal is disabled while the spindle motor is rotating in the free-running
(coast) mode. The spindle motor is not stopped with control even if this signal is
set to 0 and it does not rotate at the specified speed even if the signal is set to
1.
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.
(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
- 196 -
stop position, so another one-rotation operation and orientation operation need not be
performed.
Timing chart (mode B)
1
Orientation 0
d ORCMA 1
Orientation 0
completion signal
ORARA Detach Mount
Leaving
new
Tool change operation Move OFF
Hold tool tool
tool
Spindle unclamp OFF ON
Machine ready signal
MRDYA 0 1
Turn off excitation
(f) Spindle alarm reset signal (ARSTA)

(1) After the cause of an alarm such as a motor overheat, excessively large velocity error, 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 common power supply (PS) and part of spindle alarms (such as overcurrent)
cannot be released by this signal. (The power must be turned off once.)
(4) If a spindle alarm is issued, cancel the spindle commands (such as the speed command,
forward/reverse rotation commands, orientation command, and operation mode command), then
reset the alarm.
Spindle alarm signal

(ALM)
Spindle commands
(such as speed command,
forward/reverse rotation commands,
orientation command, and operation
mode command)
Spindle alarm reset signal
(ARST)
NOTE
With the following series and editions, the alarm reset signal is valid only in the
velocity control mode (in other modes, inputting the alarm reset signal does not
release the alarm):
Series 9D50 P (16) and subsequent editions
Series 9D70 G (07) and subsequent editions
Series 9D80 A (01) and subsequent editions
Series 9DA0 A (01) and subsequent editions
(g) Emergency stop signal (*ESPA)

(1) When *ESPA = 1, the spindle motor and spindle amplifier become ready for operation. When
*ESPA = 0, the spindle amplifier outputs to the common power supply (PS) 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. When
the zero speed detection signal SSTA is set to 1, the motor is deactivated, and a signal for turning off
the MCC is output.
- 197 -
(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 at the same time.
(4) This signal (*ESPA) and the emergency stop signal (connector CX4) of the common power supply
(PS) function as signals having the same meaning for the spindle amplifier (SP).
WARNING
1 The spindle motor runs freely (coasts) due to a power failure, alarm, or
command from the ladder program (MPOFA signal). While the spindle motor
runs in the free-running mode, it does not stop even when the emergency stop
signal is input.
2 When the power is off, the spindle motor may also run freely.
3 The emergency stop signal receive circuit in the amplifier is an electronic circuit.
For this reason, the motor may not stop due to a failure in the electronic circuit
even when the emergency stop signal is input to the amplifier.
(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.
(i) Soft start/stop signal (SOCNA)

(1) The soft start/stop function makes acceleration/deceleration of the spindle motor gradual. 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
(2) The soft start/stop function is valid in the velocity control mode. This signal is also used for enabling
the acceleration/deceleration time constant at return to the reference position in Cs contouring
control or rigid tapping (parameter No. 4406), however.
(3) When emergency stop signal *ESPA or machine ready signal MRDYA is set to 0, the soft start/stop
function is disabled automatically.
- 198 -
NOTE
With the following series and editions, setting the relevant parameter (bit 2 of
parameter No. 4399 to 1) enables the soft start/stop function even when the
spindle motor is being decelerated according to *ESPA = 0 or MRDYA = 0:
Series 9D50 O (15) and subsequent editions
Series 9D70 F (06) and subsequent editions
(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
With the following series and editions, the quadratic function type soft start/stop
function can be used:
(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.
- 199 -
Spindle position
Spindle clamping
Velocity integral control
(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 control Hold workpiece by two spindles
Holding workpiece by two Chuck closed

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.
(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%
- 200 -
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 ⎠
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
Spindle
operator's Override enable/
panel disable signal amplifier
Speed
Override
PMC
CNC Speed command
ladder
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%.
- 201 -
JY1
1
Reference voltage OVR1
2 Variable resistor
Analog input OVR2 VR
20
0V 0V
Resistor R1
Reference voltage output
value 4.75±0.25V
(Spindle amplifier) 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.
(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)
- 202 -
(5) Sample sequence

Free running
Motor speed
–1
0min
Motor power
ON
OFF
Zero speed detection
signal SSTA
1
0
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
spindle alarm 24 (serial transfer data error) occurs. Normally, when spindle 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.
(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.
- 203 -
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
CAUTION
When this signal is set to 1, a motor overheat or feedback signal error is not
detected, and a status signal related to a feedback signal may not be output
correctly. When the motor is driven, be sure to set this signal to 0.
NOTE
1 When the dual check safety function is enabled, this signal is disabled.
When the αiCZ sensor (serial) is used, this signal is disabled.
(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.
3.2 OUTPUT SIGNALS (SP→CNC→PMC)

This section describes the functions of the signals directly input from the PMC to spindle amplifier (SP)
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.

(c) For Series 15i
(d) For Series 0i
- 204 -

(f) For Series 0i-D
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
3.2.2 Explanation of Output Signals

This signal is output when a spindle alarm is issued.
ALMA, B Spindle 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
decreased to a predetermined rotation speed or lower.
SDTA, B Speed detection signal
0: Above predetermined speed
1: Predetermined speed or lower
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
1: Set load or higher
This signal is output when the torque is being limited by the TLMLA or TLMHA
Torque limit status signal.
TLMA, B
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
- 205 -

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.
Spindle switching
CFINA, B 0: Controls the main spindle motor.
completion signal
1: Controls the sub-spindle motor.
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.
Speed range 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.
This signal is used to confirm whether synchronous orientation is enabled or
Synchronous
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
This signal is used with the spindle tandem function.
Tandem operation
SLVSA, B 0: Tandem operation is not in progress.
state 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
CSPENA, B establishment state
position not established).
signal
1: Coordinate establishment processing is possible (with a reference position
established).
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, spindle alarm signal ALMA is set to 1. For the meaning of the alarm, check the
CNC screen and 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, spindle orientation command, operation mode
command and so on). 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 magnetic 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:
- 206 -
Spindle control commands Various operation modes Speed control mode

- Speed command : Sxxxx
- Forward rotation command : SFRA
- Reverse rotation command : SRVA
- Spindle orientation command : ORCMA
- Operation mode command
etc.
1
Spindle alarm signal (ALMA)
0 0
Spindle alarm reset signal (ARSTA) 0 0
Remove cause
Motor speed of alarm
Decelerated and
Stopped
Not operated even when

command is issued Usable
(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.
CAUTION
1 If a motor feedback signal disconnection alarm (spindle alarm 73) is issued, the
status of this signal is undefined.
2 When bit 5 of parameter No. 4007 is set to "1", the detection operation of the
feedback signal disconnection alarm is not performed.
Set the parameter to "0" when not required, to enable alarm detection.
3 If an error which cannot be detected in the motor free-running (coast) state
occurs in the motor feedback system, this signal may not be output correctly in
the motor free-running mode after an alarm is reset.
- 207 -
(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
1 0 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 magnetic
sequence.
(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 detection 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.
- 208 -
Spindle motor Motor speed range

speed allowing gear change
-1
0min
Spindle motor speed
(low speed) at gear
Shifter movement shift
Gear shift completed
1
0 1
Speed detection signal SDTA

(gear change enable signal)
Zero-speed detection signal SSTA
CAUTION
3 If an error which cannot be detected in the motor free-running (coast) state
occurs in the motor feedback system, this signal may not be output correctly in
the motor free-running mode after an alarm is reset.
(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
0
Motor speed
1
SARA 0
Specified speed 2
Detection range
Specified speed 1 (see (2) and (3))
Motor speed
1 0 1
SARA
- 209 -
(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.
signal
Detection range (%) of speed arrival
177%(at 80min–1)
23%(at 80min–1)
(%) –1
333 1000 min
Speed command
(4) This signal is output when SFRA or SRVA is set to 1.

(5) This signal can be used to control reverse rotation in a tapping cycle as follows:
SFRA (forward command) FIN

0
1
SRVA (reverse command)
0
1
40 ms
1
SSTA (zero-speed detection) 0
SARA (speed arrival) Minimum
Approx. pulse
τ1 width
ON 40 ms Note) There is a delay of
τ1 = 40ms τ1 until the SARA signal is
OFF set to 0.
Forward rotation
Motor
speed
0 Zero-speed detection range
Reverse rotation
Speed arrival
detection range
When a reserve rotation command is issued, the spindle motor starts decelerating, and 40 ms later
the speed 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.
- 210 -
CAUTION
When a spindle alarm is issued, this signal is disabled.
(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) By default, these signals are not output in 10 seconds (set in parameter No. 4082) after the status of
the speed command signal changes. They are always output when the value on the load meter
exceeds the set level according to the parameter setting (bit 4 of parameter No. 4009 to 1), however.
(f) Torque limit status signal (TLMA)

For details of this signal, see Subsection 3.2.2, “Explanation of Output Signals”, in Part I.
(g) Orientation completion signal (ORARA)

in Part I.
(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 speed range switching
completion signal (RCFNA)
For details of these signals, see Section 5.1, “SPEED RANGE SWITCHING CONTROL”, in Part I.
- 211 -
(j) Position coder one-rotation signal detection state signal (PC1DTA)

(k) Incremental orientation signal (INCSTA)

For details of this signal, see Section 5.3, “INCREMENTAL COMMAND TYPE SPINDLE
(l) Synchronous orientation enable signal (SORENA)

(m) Motor excitation off state signal (EXOFA)

For details of this signal, see Subsection 3.1.3(p), “Disconnection detection disable signal (DSCNA)”, 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
With the following series and editions, this signal can be used:
- 212 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 4.ADJUSTMENT
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
Unit of data :
15i 16i 30i

Unit of data :
(2) Orientation
15i 16i 30i
Unit of data :
15i 16i 30i

Unit of data :
- 213 -
4.ADJUSTMENT FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
(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 :
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 :
Unit of data :
(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 :
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 :
15i 16i 30i

- - 4550 Velocity loop proportional gain on spindle synchronous control (HIGH)CTH1A=0
- - 4551 Velocity loop proportional gain on spindle synchronous control (LOW) CTH1A=1
Unit of data :
15i 16i 30i

- - 4552 Velocity loop integral gain on spindle synchronous control (HIGH) CTH1A=0
- - 4553 Velocity loop integral gain on spindle synchronous control (LOW) CTH1A=1
Unit of data :
- 214 -
NOTE
Parameters Nos. 4550, 4551, 4552, and 4553 are valid with 9D70 series O (15)
edition or later, 9D80 series K (11) edition or later, 9D90 series A (01) edition or
When parameters Nos. 4550, 4551, 4552, and 4553 are set to 0, parameters
Nos. 4044, 4045, 4052, and 4053 are valid.
Parameters Nos. 4044, 4045, 4052, and 4053 are common to spindle
synchronous control and servo mode.
(5) Cs contour control

15i 16i 30i
Unit of data :
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 :

(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
- 215 -
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. 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 resonance elimination 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.
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

9D50 series A(01) edition or later
9DA0 series A(01) edition or later
(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.
- 216 -
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
3157 4157 4157 Torque command filter time constant: for low-speed characteristics
Unit of data : 0.5msec

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.
4.2.2 Resonance Elimination Filter

(1) Overview
The resonance elimination filter can attenuate signals which are in certain frequency band. When a strong
resonance point is present in an area not lower than 200 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 resonance
elimination filter.

Spindle software
9D50 E (05) edition or later
9D70 A (01) edition or later
9DA0 A (01) edition or later
* When the resonance elimination filter disable signal is used, the following spindle and CNC software
products must be used.
- 217 -
Spindle software
9D50 W (23) edition or later
9D70 L (12) edition or later
9D80 H (08) edition or later
CNC software (Resonance elimination filter disable signal supported)

B0H1 K (11) edition or later FANUC Series 16i /160i /160is-MB
BDH1 K (11) edition or later FANUC Series 18i /180i /180is-MB
BDH5 B (02) edition or later FANUC Series 18i /180i /180is-MB5
DDH1 K (11) edition or later FANUC Series 21i /210i /210is-MB
B1H1 K (11) edition or later FANUC Series 16i /160i /160is-TB
BEH1 K (11) edition or later FANUC Series 18i /180i /180is-TB
DEH1 K (11) edition or later FANUC Series 21i /210i /210is-TB
G002/G012/
W (23) edition or later
G022/G032
G003/G013/ FANUC Series 30i /300i /300is-A
F (06) edition or later
G023/G033
G121/G131 W (23) edition or later
FANUC Series 31i /310i /310is-A5
G123/G133 F (06) edition or later
FANUC Series 31i /310i /310is-A
G201 W (23) edition or later
G203 F (06) edition or later
(3) Details
Fig. 4.2.2 shows the resonance elimination filter configuration.
The resonance elimination 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 resonance elimination 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
Resonance elimination filter (integral term)
Fig.4.2.2 (a) Resonance elimination filter configuration
- 218 -
(4) I/O Signals (CNC↔PMC)

(4-1) Input signals (PMC→CNC)
16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G305 G305 HF4A HF3A HF2A HF1A
2nd- G309 G309 HF4B HF3B HF2B HF1B
HF1A Resonance elimination filter disable signal 1 (for 1st spindle)

HF1B Resonance elimination filter disable signal 1 (for 2nd spindle)
0: Enables resonance elimination filter 1
1: Disables resonance elimination filter 1
Resonance elimination filter 1 (set with parameter Nos. 4391 to 4393) is disabled.



CAUTION
When motor excitation is in progress (motor excitation off state signal: EXOFx =
0), do not change the status of the following signals:
HF1x, HF2x, HF3x, and HF4x
(4-2) Output signals (CNC→PMC)

16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- F047 F047 EXOFA
2nd- F051 F051 EXOFB
EXOFA Motor excitation off status signal (for 1st spindle)

EXOFB Motor excitation off status signal (for 2nd spindle)
0: Motor excitation is on.
Make sure that status of this signal is ‘1’ before changing status of resonance elimination
filter disable signal HF1x, HF2x, HF3x and HF4x.
- 219 -
(4-3) Examples of Sequences

Spindle rotation
command
SFRA or SRVA
Motor excitation
off status
signal EXOFA
HRV filter
disable signal
HF1A

15i 16i 30i
3391 4391 4391 Resonance elimination filter 1 - attenuation center frequency
3392 4392 4392 Resonance elimination filter 1 - attenuation bandwidth
3393 4393 4393 Resonance elimination filter 1 - damping
15i 16i 30i

15i 16i 30i

15i 16i 30i

Attenuation center frequency :

Unit of data : 1Hz
Attenuation bandwidth :
Unit of data : 1Hz
Damping :
Unit of data : 1%
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
- 220 -
setting) in all the three parameters. When input signal HFx (x: 1 to 4) is set to 1, the
resonance elimination filter x is disabled.
(6) Adjustment
The disturbance input function (see Subsection 4.2.3, “Disturbance Input Function”) 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 resonance elimination 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.4.2.2 (b) Before application of the resonance elimination 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.4.2.2 (c) After application of the resonance elimination filter

(Attenuation center frequency = 550Hz, attenuation bandwidth = 40Hz, damping = 0%)
* Adjustment without the disturbance input function

When adjusting the resonance elimination 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.
(7) Additional information (cautions)

When the resonance elimination filter is used, inappropriate parameter setting may make velocity loop
control unstable, resulting in abnormal oscillation by a torque command. There is a high possibility that
velocity loop control becomes unstable when a “low” center frequency, “high” bandwidth, and “small”
damping coefficient are set.
- 221 -
1. The motor may accelerate to a speed higher than the specified one with an acceleration/deceleration
function depending on the degree of oscillation. Before using the resonance elimination filter, fully
consider the following points and adjust the parameters:
The use of the resonance elimination filter is allowed when the center frequency is 200 Hz or higher.
2. The standard attenuation bandwith is up to 30% of the center frequency. Set as small a value as
possible.
3. Set as large a damping coefficient as possible.
4. When the center frequency of machine resonance is 200 Hz or lower, adjust the parameters with
observing the instructions described in items (2) and (3) while checking that no torque command
causes abnormal oscillation.
5. When you do not use the resonance elimination filter, set all three parameters (attenuation center
frequency, attenuation bandwidth, and damping) for resonance elimination filters 1 to 4 to “0.”
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 resonance elimination filter can be adjusted easily.

9D50 series E(05) edition or later
(3) Details
Fig. 4.2.3 (a) 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 resonance elimination filter can be adjusted easily.
Disturbance
Didturbance torque
command
DTQCMD
Velocity Velocity loop + -
command + controller
Kt/Jm⋅s
Torque
- command TQCMDF
Motor
TQCMDB
Speed feedback
Fig.4.2.3 (a) Configuration of the disturbance input function

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
3395 4395 4395 DTQFNC DTQTRG
- 222 -
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

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

Set the frequency at which measurements are to end.
15i 16i 30i

3412 4412 4412 Measurement frequency interval
Unit of data : 1Hz

Set the interval of measurement frequencies.
15i 16i 30i

3413 4413 4413 Number of measurement times per frequency
Unit of data : 1 time

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)

- 223 -

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)
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
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.
(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 resonance elimination 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 resonance elimination 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.
- 224 -
(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. 4.2.3 (b)
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 d-07 (shift ±128 Hz/±5 V with shift amount 0
0
direction) ±256 Hz/±5 V with shift amount 1
d-08 (offset) 1
TFUNCG : Ratio of amplitude of TQCMDB to amplitude of DTQCMD
d-09 (data number) 168
(gain)
d-10 (Shift amount) 6 or 7
CH2
d-11 (shift ±200 %/±5 V with shift amount 6
0
direction) ±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.4.2.3 (b) Example for observing disturbance input function data
* The data shows that strong resonance is present at about 600 Hz.
4.2.4 Adaptive Resonance Elimination Filter

(1) Overview
The adaptive resonance elimination filter function causes one of the four resonance elimination filters to
follow up resonance frequency changes.
(2) Series and Editions of Applicable Spindle Software

Spindle software
9D90 A (01) edition or later FS0i-D, FS30i / FS31i / FS32i
9DA0 A (01) edition or later FS30i / FS31i / FS32i-B
(3) Details
(1) This function enables searches for resonance frequency changes for:
• Individual differences in machines
• Secular changes in machines
• Individual differences in workpieces
- 225 -
(2) When the search mode signal is input, a search for machine resonance is started within a set search
range. Of the frequencies that exceed a set detection level, the one with the largest amplitude is
detected as a resonance frequency. The detected frequency is set as a center frequency for resonance
elimination filter 1.
Resonance elimination filter

characteristic: search mode
Adaptation to resonance with a

substantial change
F(Hz)
(3) While the search mode signal is being input, a search for machine resonance is made continuously.
If a different frequency is detected, the setting of the center frequency for resonance elimination
filter 1 is updated with the detected frequency.
(4) The detected frequency can be checked on the diagnosis screen.
NOTE
・ This function is enabled only for resonance elimination filter 1 (parameters Nos.
4391, 4392, and 4393).
・ This function is enabled when excitation is on.
・ This function is disabled when the resonance elimination filter 1 disable signal is
input (bit 0 of G305 = 1).
・ The center frequency parameter for resonance elimination filter 1 cannot be
updated automatically.
・ When the spindle adjustment function of the SERVO GUIDE is used, turn off the
search mode signal.
(4) I/O Signals (CNC↔PMC)

(4-1) Input signals (PMC→CNC)
30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G304 FRFSMA
2nd- G308 FRFSMB
FRFSMA : Adaptive resonance elimination filter search mode signal (for 1st spindle)
FRFSMB : Adaptive resonance elimination filter search mode signal (for 2nd spindle)
0 : Stops (disables) the search mode.
1 : Starts the search mode.
When the FRFSM signal is set to 1, a search for a resonance frequency is started.
While the signal is being input, the search is continued even after search completion
signal FRDTE becomes 1. If another vibration frequency is detected, the internally set
center frequency for resonance elimination filter 1 is updated with the detected frequency.
NOTE
Even when the FRFSM signal is input, searches cannot be made in any of
the following cases:
1 Resonance elimination filter 1 disable signal HF1 (bit 0 of G305) is 1.
2 Excitation is off.
3 The polarity is not detected (for synchronous spindle motor drive).
- 226 -
30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G305 HF1A
2nd- G309 HF1B
HF1A : Resonance elimination filter 1 disable signal (for 1st spindle)

HF1B : Resonance elimination filter 1 disable signal (for 2nd spindle)
0 : Enabled
1 : Disabled
When the HF1 signal is 1 (disabled), resonance elimination filter 1 set with parameters
Nos. 4391, 4392, and 4393 is disabled. In this case, the adaptive resonance elimination
filter function is also disabled.
(4-2) Output signals (CNC→PMC)

30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G307 FRDTEA
2nd- G309 FRDTEB
FRDTEA : Adaptive resonance elimination filter search completion signal (for 1st spindle)
FRDTEB : Adaptive resonance elimination filter search completion signal (for 2nd spindle)
0 : Uncompleted state
1 : Completed state
Once search start signal FRFSM has been input, and when two searches have been
finished in the search range specified with the relevant parameters (search start frequency
(= parameter No. 4391 - parameter No. 4561) to search end frequency (= parameter No.
4391 + parameter No. 4561) ≤ 2000 Hz), the FRDTE signal becomes 1.
NOTE
The FRDTE signal is cleared in any of the following cases:
1 Resonance elimination filter 1 disable signal HF1 (bit 0 of G305) is 1
(disabled).
2 The adaptive resonance elimination filter is disabled (bit 3 of parameter
No. 4396 = 0).
3 The center frequency (parameter No. 4391) for resonance elimination
filter 1 is rewritten.
4 Search start signal FRFSM (bit 7 of G304) rises from 0 to 1.

Example 1) To always make a search during machining
When a resonance frequency changes during machining, it is possible to adapt to the frequency
changes by continuing a search without turning off the search start signal.
- 227 -
HF1 (resonance elimination filter HF1=0 (resonance elimination filter 1 is enabled)

1 disable signal)
FRFSM (search mode signal)
Search state Search in progress
f2 (detected
frequency)
f0 (No. 4391)
Applied resonance f1 (detected frequency)
elimination filter frequency
Search
Search
stop
start
FRDTE (search
completion signal)
Machining Machining in progress
Example 2) To fix the search result during machining

When resonance frequencies are different for individual workpieces, but during machining, you do
not want to change the frequency components that should be attenuated, it is possible to fix the
center frequency during machining by turning off the search start signal after a search is completed.
HF1 (resonance elimination HF1=0 (resonance elimination filter 1 is enabled)

filter 1 disable signal)
FRFSM (search start signal)
Search state Search in Search stop Search in Search stop

progress progress
f2 (detected
f1 (detected frequency)
f0 (No.4391)
Applied resonance frequency)
elimination filter frequency
Search
Search suspension Search suspension
start
FRDTE (search completion
signal)
Machining Machining Machining

in progress in progress
Change
Change
Workpiece change

30i #7 #6 #5 #4 #3 #2 #1 #0
4396 ACREF
ACREF Adaptive resonance elimination filter function

0 : Disables the adaptive resonance elimination filter function.
1 : Enables the adaptive resonance elimination filter function.
- 228 -
Set this bit to 1 to use the adaptive resonance elimination filter function. This function
works for resonance elimination filter 1.
NOTE
This function is enabled only for resonance elimination filter 1. The
function is disabled for the other resonance elimination filters
(resonance elimination filter 2 (parameters Nos. 4416, 4417, and
4418), resonance elimination filter 3 (parameters Nos. 4419, 4420,
and 4421), and resonance elimination filter 4 (parameters Nos.
4422, 4423, and 4424)).
30i
4391 Resonance elimination filter 1: center frequency
Unit of data : 1Hz

When the adaptive resonance elimination filter function is enabled, a search is made
around the center frequency set in this parameter in the search range set in parameter No.
4561.
NOTE
When this parameter is rewritten, search results are discarded.
30i
4392 Resonance elimination filter 1: band
Unit of data : 1Hz

NOTE
When this parameter is 0, the filter function itself is disabled, but
searches for resonance frequencies can be made, and search
results can be checked on the diagnosis screen.
30i
4393 Resonance elimination filter 1: attenuation rate
Unit of data : 1%
30i
4560 Adaptive resonance elimination filter: detection level
Unit of data : 0.1% Unit [100%⇒maximum torque]

Set the minimum detection level of vibration spectra. When a vibration spectrum is lower
than or equal to this level, its wave number is not regarded as a resonance frequency.
When this setting is 0, the detection level is assumed to be 8 (0.8%).
- 229 -
NOTE
If a small value is set, frequencies may not be detected correctly
due to the effect of noise. When applying this parameter, be sure to
use the actual machine to check that proper follow-up is performed.
30i
4561 Adaptive resonance elimination filter: search range
Unit of data : 1Hz

Set the search range for the adaptive resonance elimination filter.
A search is made in a frequency range of (parameter No. 4391 ± search range). If a
frequency to be found is beyond a range of 100 to 2000 Hz, a search is made within this
range. When this setting is 0, the search range is assumed to be fs = 1900.
Search range
Fc = No. 4391
fs fs fs = No. 4561
Frequency Hz
100 Fc-fs Fc Fc+fs 2000
(6) Checking search results

When the following parameter is set, the results of searches made by the adaptive resonance elimination
filter can be checked on the CNC diagnosis screen.
30i
4532 Arbitrary data output function number
Unit of data :
Valid data range : 0 to +32767
When this parameter is set to 6, the following data for which search processing is
performed can be checked on the CNC diagnosis screen display. When diagnosis 722 = 1,
the value displayed in diagnosis 720 is the center frequency that has been found.
Diagnosis 720: Displays the center frequency (search result) for resonance elimination
filter 1 that has been found and internally set.
Diagnosis 722: Displays the state of search completion signal FRDTE, 0 (search
completed state) or 1 (search uncompleted state).
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.

9D50 series C(03) edition or later
- 230 -

NOTE
When the αiCZ sensor (serial) is used, this function cannot be used.
(3) Details
The feedback signals from the αiM sensor, αiMZ sensor, αiBZ sensor, and αiCZ sensor (analog) 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.

15i 16i 30i
3355 4355 4355 Compensation of motor sensor signal amplitude ratio
Unit of data : 1%
15i 16i 30i

3356 4356 4356 Compensation of motor sensor signal phase difference
Unit of data : 1°
15i 16i 30i

3357 4357 4357 Compensation of spindle sensor signal amplitude ratio
Unit of data : 1%
- 231 -
15i 16i 30i

3358 4358 4358 Compensation of spindle sensor signal phase difference
Unit of data : 1°
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.
(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.
d-07 (shift direction) 0 231 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.
- 232 -
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

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 (a)).
After completing the adjustment of the check board and oscilloscope, enable the averaging function
(See Fig. 4.3 (b)).
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 (a) 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 (b) When averaging is performed 32 times
* Sensor: 256 λ/rev, speed 18 min-1
- 233 -
<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 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 (c) shows the waveform obtained after phase difference
compensation adjustment.
Time range:5ms/div
32 averaging times
CH1:(313.4.0.1)
Feedback increment
0.57V
0.5V/div
CH2:(231.8.0.0)
Feedback data
5V/div
Fig. 4.3 (c) 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 (d) 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 (d) 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.
- 234 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
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
9D50 A (01) FS16i / FS18i / FS21i / FS0i / FS15i
9D70 A (01) FS30i / FS31i / FS32i
9D80 A (01) FS16i / FS18i / FS21i / FS0i / FS15i / FS30i / FS31i / FS32i
9DA0 A (01) FS30i / FS31i / FS32i -B
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 a spindle amplifier (SP).
• 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 SP with speed range
Power line switching control
Switching unit
Feedback signal
- 235 -
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
5.1.4 Using Speed Range Switching Control

While there are two methods of using speed range switching control, it is recommended to adopt the
method that switches the winding based on the velocity command.
• Switching the winding based on the velocity command (recommended method)
• Switching the winding based on the actual motor speed
With the method that switches the winding based on the velocity command, the winding is selected based
on the specified speed while the spindle is stopped and then the spindle is accelerated, as shown in the
figure below. Generally, this method enables a short acceleration time before reaching the maximum
speed and a smooth acceleration operation. The method is also advantageous in terms of the contact life
of the magnetic contactor.
Speed
Time
If the velocity command specifies the high-speed If the velocity command specifies the low-speed
winding range, the high-speed winding is selected winding range, the low-speed winding is selected
before the spindle is accelerated or decelerated. before the spindle is accelerated or decelerated.
The following table compares the two methods.

Method that switches the winding based Method that switches the winding based
on the velocity command on the actual motor speed
Acceleration time This method uses only the high-speed This method performs the switching from the
from stop state to winding and does not switch the winding low-speed winding to the high-speed winding
maximum speed during acceleration. during acceleration.
Therefore, the time for the switching Therefore, the time for the switching
operation (typically 200 to 300 ms) is not operation (typically 200 to 300 ms) is
required and the acceleration time from the required.
start of acceleration generally becomes In cases where the switching operation time
short. is short relative to the acceleration time, such
as when the inertia is large, this method that
also uses the low-speed winding may result
in a short acceleration time.
Speed fluctuation Since this method does not switch the Since this method switches the winding
during winding during acceleration, the during acceleration, the acceleration
acceleration acceleration operation is not interrupted, operation is interrupted when the switching is
resulting in smooth acceleration. performed and acceleration is not smooth.
Life of magnetic Since this method switches the winding Since this method switches the winding
contactor only when necessary, it is advantageous in whenever the spindle is accelerated to the
terms of the contact life of the magnetic high-speed winding range, it can be said that
contactor. the method is disadvantageous in terms of
the contact life of the magnetic contactor.
(a) Method that switches the winding based on the velocity command
This method references the spindle velocity command (S command) and switches the winding by judging
whether the specified speed is the low-speed winding range or high-speed winding range. Determine the
winding to be selected, by using the S code output (S31 to S00) or S12 bit code output (R12O to R01O).
(1) Starting and stopping the spindle
- 236 -
<1> Reference the spindle velocity command (S command) and switch to the low-speed winding if
the specified speed is the low-speed winding range or to the high-speed winding if the specified
speed is the high-speed winding. If the desired winding is already selected, the switching is not
necessary and the time is reduced.
<2> Rotate the spindle after the switching is completed.
<3> When stopping the spindle, stop it with the winding that is selected while it is rotating.
Velocity <1>
command
(S command) 0 0
Speed range Low-speed

switching winding High-speed winding
Rotation <2> <3>

command 0 1 0
(SFR/SRV)
Motor speed
0 0
(2) Changing the velocity command

If the winding needs to be changed when the velocity command is changed while the spindle is
rotating, it is possible to stop the spindle temporarily, change the winding, and then accelerate the
spindle to the specified speed, as in mechanical gear switching. Note, however, that this method
requires a longer acceleration/deceleration time because it stops the spindle temporarily.
Described below is a method to reduce the operation time by changing the winding during rotation.
(2)-1 High-speed winding → low-speed winding

To change the velocity command from the high-speed winding area to the low-speed winding
area, set bit 4 of parameter No.4019 to 1. Also, set the detection level of the speed detection
signal (SDT) to the switching speed.
These settings ensure that the sequence does not proceed until the motor decelerates to the
low-speed winding range and the speed detection signal (SDT) is set to 1, even if the switching
from the high-speed winding to the low-speed winding starts. This means that they prevent the
low-speed winding from being selected in the high-speed winding range.
<1> Reference the spindle velocity command (S command) and start the switching to the
low-speed winding if the specified speed is the low-speed winding range.
<2> If the motor decelerates to the set speed level, the speed detection signal (SDT) is set to 1
and the switching operation is performed.
<3> After the switching is completed, the motor decelerates further to the specified speed.
(2)-2 Low-speed winding → high-speed winding

<1> Reference the spindle velocity command (S command) and switch to the high-speed
winding if the specified speed is the high-speed winding range.
<2> After the switching is completed, the spindle accelerates to the specified speed.
- 237 -
Velocity <1> <4>

command
(S command) 0
Rotation
command 1 1
(SFR/SRV)
<5>
Motor speed <3>
0
Speed detection <2>

0 1 0
signal (SDT)
High-speed Low-speed High-speed

Speed range winding
winding winding
switching
(b) Method that switches the winding based on the actual motor speed
This method switches the winding when the motor reaches the switching speed. Switch the winding when
the speed detection signal (SDT) changes. The speed detection signal is set to 1 when the speed level
specified by the parameter is lower than the actual motor speed or to 0 when the speed level is higher. Set
the detection level (parameter No. 4023) to the switching speed.
(1) Starting and stopping the spindle

<1> Input the spindle velocity command (S command) and rotation command to accelerate the
spindle.
<2> Accelerate the spindle until the detection speed of the speed detection signal (SDT) is reached.
When the SDT signal changes, perform the speed range switching. When the switching of the
winding is completed, the spindle accelerates further to the specified speed.
<3> When the spindle is stopped, the speed detection signal (SDT) also changes during deceleration.
When the SDT signal changes, perform the switching of the winding. After the switching to the
low-speed winding is completed, the spindle decelerates and stops.
<1>
Velocity
command
(S command) 0
Rotation
command 0 1
(SFR/SRV)
<2> <3>
Motor speed
0
Speed detection
signal (SDT)
1 0 1
Speed range Low-speed High-speed Low-speed

switching winding winding winding
(2) Changing the velocity command

(2)-1 High-speed winding → low-speed winding
<1> Using the spindle velocity command of the low-speed winding range, start deceleration.
<2> When the spindle decelerates to the detection speed of the speed detection signal (SDT)
and the SDT signal changes, perform the speed range switching.
<3> When the switching of the winding is completed, the spindle decelerates further to the
specified speed.
- 238 -
(2)-2 Low-speed winding → high-speed winding

<1> Using the spindle velocity command of the high-speed winding range, start acceleration.
<2> When the spindle accelerates to the detection speed of the speed detection signal (SDT)
and the SDT signal changes, perform the speed range switching.
<3> When the switching of the winding is completed, the spindle accelerates further to the
specified speed.
Velocity <1> <4>

command
(S command) 0
Rotation
command
1 1
(SFR/SRV)
<3> <6>
Motor speed
0
<5>
<2>
Speed detection 0 1 0
signal (SDT)
High-speed Low-speed High-speed

Speed range winding winding
switching winding
(c) Cautions
While speed range switching control can be performed regardless of whether the motor is stopped or
rotating, it should not be performed during cutting or position control. Since the motor current control is
stopped during the switching operation, the motor does not generate torque. For this reason, the motor
may become unable to cut or rotate as specified, thus causing an alarm.
Be sure to select the winding before the motor enters any of the following control modes in order to
prevent the switching operation from being performed while the motor is operating in one of these modes.
• Spindle orientation (lower than or equal to the orientation speed)
• Rigid tapping
• Cs contouring control
• Spindle synchronous control
• Spindle positioning
The speed detection signal (SDT) may change in the cases described below. Avoid using the SDT signal
in these cases.
In constant surface speed control, the spindle speed becomes high to reach the detection level of the SDT
signal.
(When performing constant surface speed control with the low-speed winding, it is possible to prevent the
speed from reaching the detection level of the SDT signal by clamping the maximum speed using the
spindle maximum speed clamp command (G92 and G50).)
During cutting, the cutting load causes a speed fluctuation and the speed reaches the detection level of the
SDT signal.
Note that the SDT signal may change when the speed is changed by spindle override.

- 239 -
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

(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
• If the motor speed crosses the speed detection level during cutting
(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.
- 240 -
(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
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
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.

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

(a) Power line switching signal (RCHPA)
(1) The RCHPA signal is a command signal for selecting a magnetic contactor used to switch the output
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.
- 241 -
(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.

(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.
5.1.6 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
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
Low speed (=1) High speed (=0)
CNC→PMC
- 242 -
(b) Switching from high-speed characteristic to low-speed characteristic

signal (RSLA) High speed (= 0) Low speed (= 1)
PMC→CNC
(RCHPA) High speed (= 0) Low speed (= 1)
CNC→PMC
Clutch/gear signal
(CTH1A, 2A) PMC→CNC High speed (= 0) Low speed (= 1)
magnetic contactor Open Closed
magnetic contactor status signal Open (=0) Closed (=1)
(RCHA) PMC→CNC
High-speed characteristic Open
Closed
magnetic contactor
magnetic contactor status signal Closed (=1) Open (=0)
(RCHHGA) PMC→CNC
High speed (=0) Low speed (=1)
CNC→PMC
(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
signal (RSLA) Low speed (= 1) High speed (= 0)
PMC→CNC
(RCHPA) Low speed (= 1) High speed (= 0)
CNC→PMC
Clutch/gear signal
(CTH1A, 2A) PMC→CNC Low speed (= 1) High speed (= 0)
magnetic contactor Closed Open
Open Closed
magnetic contactor
Power line status confirmation

Low speed (= 1) High speed (= 0)
signal (RCHA) PMC→CNC

Low speed (=1) High speed (=0)
CNC→PMC
- 243 -
(b) Switching from high-speed characteristic to low-speed characteristic

signal (RSLA) High speed (= 0) Low speed (= 1)
PMC→CNC
(RCHPA) High speed (= 0) Low speed (= 1)
CNC→PMC
Clutch/gear signal
(CTH1A, 2A) PMC→CNC High speed (= 0) Low speed (= 1)
magnetic contactor Open Closed
Closed Open
magnetic contactor
Power line status confirmation

High speed (= 0) Low speed (=1)
signal (RCHA) PMC→CNC

High speed (=0) Low speed (=1)
CNC→PMC
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 Spindle 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.
5.1.7 List of Related Parameters

Parameter No.
Description
15i 16i 30i
Whether the speed range switching control function is available (to be set to
3015 #2 4015 #2 4015 #2 “1”)
Function of checking the both magnetic contactor contacts for high-/low-speed
3014 #3 4014 #3 4014 #3
characteristics in speed range switching
Function of checking the speed detection signal when switching is performed
3019 #4 4019 #4 4019 #4
from high-speed characteristic to low-speed characteristic
3023 4023 4023 Speed detecting level
3160 4160 4160 Speed detection level hysteresis
- 244 -

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
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%

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”.
15i 16i 30i

Unit of data : 1min-1 (When parameter No. 4006 #2 (SPDUNT)=1, 10 min-1)

Specify the hysteresis of the detection level of the speed detection signal (SDT).
- 245 -
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
5.1.9 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.
CTH1A CTH2A Selection status of clutch/gears Selection status of winding

0 0 HIGH GEAR (HIGH) High-speed output characteristic winding
0 1 MEDIUM HIGH GEAR (HIGH) -
1 0 MEDIUM LOW GEAR (LOW) -
1 1 LOW GEAR (LOW) Low-speed output 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)
- 246 -
3065 4065 4065 Position gain on servo mode (HIGH)
3069 4069 4069 Position gain on Cs contouring control (HIGH)
(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.
5.2 SPINDLE SWITCHING CONTROL
5.2.1 Overview
Spindle switching control is a function that drives two spindle motors with a single spindle amplifier, one
at a time by switching them. The function is suitable for a machine in which two spindle motors are not
driven simultaneously.

Spindle software
9D50 E (05) FS16i / FS18i / FS21i / FS0i / FS15i
9D70 A (01) FS30i / FS31i / FS32i
- 247 -
NOTE
5.2.3 Configuration
Shown below is a machine configuration for using spindle switching control.
The following items are required for spindle switching control in addition to a spindle amplifier (SP) and
two spindle motors:
• 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 SP SSW MAIN

Feedback signal Spindle motor
Feedback signal
Switching unit SUB

Power line Spindle motor
Switching request signal and
status confirmation signal Power line
5.2.4 Details of Specifications

(1) The spindle amplifier 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). Nor can they be used to drive the
spindle motor (speed sensor-less motor) of the βiIc or αCi series.
(2) Any spindle motors that can be driven with the spindle amplifier can be combined as a main spindle
or sub-spindle.
The capacity of the spindle amplifier 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 spindle
amplifier. The detectors that can be used are as follows:
Detectors incorporated in the motor (speed detectors): αiM sensor, αiMZ sensor, αiBZ sensor (for
built-in motors), and αiCZ sensor (analog) (for built-in motors)
Detectors mounted on the spindle (position detectors): Position coder, αiBZ sensor (when SP TYPE
B is used), αiCZ sensor (analog) (when SP 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
- 248 -

(8) A switching error is detected and spindle 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.
(6) The dual position feedback function can be used on the main side only.

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

(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 (ORCMA) 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.
- 249 -
(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.

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

(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.
(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.
- 250 -
(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.
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→PMC
Spindle switching request signal MAIN(=0) SUB(=1) MAIN(=0)
(SPSLA) PMC→CNC
Power line switching signal SUB(=1) MAIN(=0)
MAIN(=0)
(CHPA) CNC→PMC
Main spindle motor magnetic
contactor Closed Open Closed

Closed(=1) Open(=0) Closed(=1)
contactor status signal
(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 (CFINA)
CNC→PMC
t1 t1’
t1<1sec, t2<1sec t1’<1sec, t2’<1sec
t2 t2’
NOTE
Spindle 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.
- 251 -
(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→PMC
Spindle switching request signal MAIN(=0) SUB(=1) MAIN(=0)
(SPSLA) PMC→CNC
Power line switching signal SUB(=1) MAIN(=0)
MAIN(=0)
(CHPA) CNC→PMC
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 (CIFNA)
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 Spindle 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.

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)
3014#0 4014#0 4014#0 Whether the spindle switching function is available (to be set to “1”)
Function of checking the both magnetic contactor contacts for main spindle
3014#2 4014#2 4014#2
and sub-spindle motors in spindle switching
3013 4013 4013
Current dead-band data (MAIN)
#6 to #2 #6 to #2 #6 to #2
- 252 -
Parameter No.
Description
15i 16i 30i
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.

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.
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 spindle amplifier 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.
■αiSP(A06B-6111(6112,6121,6122)-Hxxx#H550(H553,H570))
Amplifier model Parameter setting
200V-input 400V-input DS5 DS4 DS3 DS2 DS1
αiSP2.2 to 15 αiSP5.5HV to 15HV 0 0 0 1 1
αiSP22 to 37 αiSP30HV to 45HV 1 0 1 0 0
αiSP45 to 55 αiSP75HV to 100HV 0 0 1 1 0
■αiSP(A06B-6141(6142,6151,6152)-Hxxx#H580, A06B-6144(6154)-Hxxx#H590)
Amplifier model Parameter setting
200V-input 400V-input DS5 DS4 DS3 DS2 DS1
αiSP2.2～55 αiSP5.5HV～100HV 0 0 0 1 1
- 253 -
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)

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”.
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 :
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 a spindle amplifier are in a combination that is not originally intended, it is
necessary to change the setting according to the spindle amplifier 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 spindle amplifier initially intended for the motor
G2 : Current detection gain for the spindle amplifier 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 (G1,G2)
αiSP2.2, 5.5 αiSP5.5HV, 11HV 60
αiSP11 αiSP15HV 30
αiSP26 - 10
αiSP30, 37 αiSP75HV 7.5
αiSP45 αiSP100HV 6.67
αiSP55 - 4.29
- 254 -
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.

(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.
NOTE
Set the parameters for the sub-spindle according to the list of the motor-specific
parameter numbers in Subsection 5.2.11, “Supplementary Descriptions about
Parameters,” in Part I.
(2) Parameter re-setting for spindle switching

If the motor and spindle amplifier 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.
5.2.11 Supplementary Descriptions about Parameters

(1) The spindle amplifier drives the motor using the relevant parameters according to the selected
spindle (main spindle or sub-spindle for spindle switching).
- 255 -
For the parameter numbers for the main spindle and sub-spindle, see Appendix B, “LIST OF
SPINDLE PARAMETER NUMBERS.”
(2) The following table lists the motor-specific parameter numbers for the main spindle and those for the
sub-spindle.
Set a motor-specific parameter for the sub-spindle according to the table below.
Parameter No.
3007 3183 4007 4183 4007 4183 Bit type parameter
3020 3196 4020 4196 4020 4196 Maximum motor speed
3023 3198 4023 4198 4023 4198 Speed detection level
Slip compensation gain
3039 3254 4039 4254 4039 4254
[for high-speed characteristics of speed range switching]
Regenerative power limit for high-speed zone/regenerative power limit
3080 3231 4080 4231 4080 4231
Motor voltage on velocity control mode
3083 3236 4083 4236 4083 4236
Value displayed on load meter at maximum output
3093 3279 4093 4279 4093 4279
[for low-speed characteristics of speed range switching]
Base speed of motor output specifications
3100 3256 4100 4256 4100 4256
Output limit for motor output specifications
3101 3257 4101 4257 4101 4257
Excitation voltage saturation speed at no-load
3102 3258 4102 4258 4102 4258
Base speed limit ratio
3103 3259 4103 4259 4103 4259
Current loop proportional gain
3104 3260 4104 4260 4104 4260
Current loop integral gain
3106 3261 4106 4261 4106 4261
Velocity at which the current loop integral gain is zero
3108 3262 4108 4262 4108 4262
Filter time constant for processing saturation related to the voltage command
3109 3263 4109 4263 4109 4263
Current conversion constant
3110 3264 4110 4264 4110 4264
Secondary current coefficient
3111 3265 4111 4265 4111 4265
Criterion level for saturation related to the voltage command/PWM command
3112 3266 4112 4266 4112 4266
clamp value [for high-speed characteristics of speed range switching]
3113 3267 4113 4267 4113 4267 Slip constant [for high-speed characteristics of speed range switching]
Slip compensation coefficient for a high-speed zone/slip compensation
3114 3268 4114 4268 4114 4268 coefficient at deceleration
PWM command clamp value at deceleration
3115 3269 4115 4269 4115 4269
- 256 -
Parameter No.
Motor leakage constant
3116 3270 4116 4270 4116 4270
Regular-time voltage compensation coefficient for high-speed
3117 3271 4117 4271 4117 4271 zone/regular-time motor voltage coefficient
Acceleration-time voltage compensation coefficient for high-speed
3118 3272 4118 4272 4118 4272 zone/acceleration-time motor voltage coefficient
Deceleration-time excitation current change time constant/excitation current
3119 3280 4119 4280 4119 4280 change time constant
3127 3274 4127 4274 4127 4274
Compensation coefficient between the specification and true base/maximum
3128 3275 4128 4275 4128 4275 torque curve compensation coefficient
Secondary current coefficient for rigid tapping
3129 3276 4129 4276 4129 4276
Current loop proportional gain speed coefficient/current phase delay
3130 3277 4130 4277 4130 4277 compensation coefficient
3134 3310 4134 4310 4134 4310 Motor overheat detect level
Motor voltage on velocity control mode
3136 3284 4136 4284 4136 4284
3138 3286 4138 4286 4138 4286
3139 3287 4139 4287 4139 4287
3140 3288 4140 4288 4140 4288
Base speed limit ratio
3141 3289 4141 4289 4141 4289
3142 3290 4142 4290 4142 4290
3143 3291 4143 4291 4143 4291
Velocity at which the current loop integral gain is zero
3144 3292 4144 4292 4144 4292
Filter time constant for processing saturation related to the voltage command
3145 3293 4145 4293 4145 4293
3146 3294 4146 4294 4146 4294
3147 3295 4147 4295 4147 4295
Criterion level for saturation related to the voltage command/PWM command
3148 3296 4148 4296 4148 4296
clamp value [for low-speed characteristics of speed range switching]
3149 3297 4149 4297 4149 4297 Slip constant [for low-speed characteristics of speed range switching]
Slip compensation coefficient for a high-speed zone/slip compensation
3150 3298 4150 4298 4150 4298 coefficient at deceleration
3151 3299 4151 4299 4151 4299
- 257 -
Parameter No.
3152 3300 4152 4300 4152 4300
Regular-time voltage compensation coefficient for high-speed
3153 3301 4153 4301 4153 4301 zone/regular-time motor voltage coefficient
Acceleration-time voltage compensation coefficient for high-speed
3154 3302 4154 4302 4154 4302 zone/acceleration-time motor voltage coefficient
Slip compensation gain
3156 3255 4156 4255 4156 4255
Compensation coefficient between the specification and true base/maximum
3158 3304 4158 4304 4158 4304 torque curve compensation coefficient
Secondary current coefficient for rigid tapping
3159 3305 4159 4305 4159 4305
Current loop proportional gain speed coefficient/current phase delay
3161 3306 4161 4306 4161 4306 compensation coefficient
Deceleration-time excitation current change time constant/excitation current
3165 3308 4165 4308 4165 4308 change time constant
Regenerative power limit for high-speed zone/regenerative power limit
3166 3307 4166 4307 4166 4307
3169 3349 4169 4349 4169 4349 Temperature monitoring time constant
(3) 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
3088 4088 4088 Velocity error excess detecting level on motor shaft 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
3123 4123 4123 Setting the overload detection time
3341 4341 4341 Unexpected disturbance torque detection level
3344 4344 4344 Advanced feed-forward coefficient
3346 4346 4346 Incomplete integration coefficient
(4) 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
- 258 -
Parameter No.
Description CTH1A
15i 16i 30i
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
(5) 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
3212 4212 4212 Velocity loop integral gain on the velocity control mode (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)
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 The maximum spindle speed that can be specified is shown below:
9D50 series N edition or earlier, 9D70 series E edition or earlier: 120 rotations
9D50 series O edition or later, 9D70 series F edition or later, 9D80 series A
edition or later: 30000 rotations

Spindle software
9D50 A (01) FS16i / FS18i / FS21i / FS0i / FS15i
9D70 A (01) FS30i / FS31i / FS32i
9DA0 A (01) FS30i / FS31i / FS32i -B
- 259 -

The incremental command type spindle orientation function can be used in the following system
configuration.

JYA2 Spindle
αi position coder
SP
TYPE A
JYA3

JYA2 Spindle
α position coder S
SP
TYPE B
JYA4
Spindle+
Built-in motor
JYA2
SP
TYPE A
- 260 -
SP
TYPE A
Spindle+
JYA3 circuit
Thermistor
αiMZ sensor
JYA2 Spindle
SP
TYPE A
(analog) is used
JYA2 Spindle
SP
TYPE B
- 261 -

JYA2
SP
TYPE A
Detection
Spindle
circuit
JYA3

Spindle
JYA2
SP
TYPE A
switch)
Gear or timing belt
JYA3
NOTE
direction.
- 262 -
(9) System in which the turret and the motor with a built-in αiMZ sensor are linked
with gears and a clutch (for turret indexing)
αiMZ sensor
Spindle
Turret (tool post)

JYA2
SP
TYPE A
Link with gears and a clutch

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

(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.
- 263 -
(g) Spindle orientation external stop position commands (SHA11 to SHA00)

These commands are treated as incremental command data if INCMDA = 1.

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

(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.
- 264 -

(1) Incremental operation
ORCMA
(Spindle orientation command)
SHA00-SHA11
(Spindle orientation stop position
command)
<1> <2> <3>
INDXA
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.
<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.
- 265 -
(2) Example of using spindle orientation and incremental movement together

ORCMA
(Spindle orientation command)
SHA00-11
command)
<1> <2> <3>
INDXA
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.
<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
- 266 -
• 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.

Parameter No.
Description
15i 16i 30i
Whether the spindle orientation function is available (to be set to “1”)
3015 #0 4015 #0 4015 #0
Whether the stop position external setting-type spindle orientation function is
5609#2 3702#3,#2 3729#0 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.

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

Unit of data :
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.
- 267 -
NOTE
The maximum speed (incremental command) that can be specified
is:
120 rotations (= 120 × 4096 pulses)
9D50/N edition or earlier, 9D70/E edition or earlier
30000 rotations (= 30000 × 4096 pulses)
9D50/O edition or later, 9D70/F edition or later, 9D80 series
5.4 CONVENTIONAL METHOD ORIENTATION (OPTIONAL

FUNCTION)
5.4.1 Overview
Conventional method orientation is a function for stopping the spindle at a specified position by
controlling the position using the spindle sensor signal at up to a certain spindle speed.
NOTE
*1 To use this function, the CNC software option is required.
*2 by applying the optimum orientation function, the spindle acceleration command
is automatically optimized. This is expected to reduce the positioning time
required by conventional method orientation. It is, therefore, recommended to
apply the optimum orientation function.
For an explanation of the optimum orientation function, see Section 2.2,
"POSITION CODER METHOD SPINDLE ORIENTATION (OPTIMUM
ORIENTATION)", in Part I.

Spindle software
9D50 A (01) FS16i / FS18i / FS21i , FS0i , FS15i
9D70 A (01) FS30i / FS31i / FS32i
9DA0 A (01) FS30i / FS31i / FS32i -B
- 268 -
5.4.3 Configuration
Explained below is a system configuration in which the conventional orientation function is usable.

JYA2 Spindle
αi position coder
SP
TYPE A
JYA3

JYA2 Spindle
αi position coder S
SP
TYPE B
JYA4
Spindle+
Built-in motor
JYA2
SP
TYPE A
- 269 -

SP
TYPE A
Spindle+
JYA3 circuit
Thermistor
αiMZ sensor
JYA2 Spindle
SP
TYPE A
(analog) is used
JYA2 Spindle
SP
TYPE B
- 270 -

JYA2
SP
TYPE A
Detection
Spindle
circuit
JYA3

Spindle
JYA2
SP
TYPE A
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
- 271 -

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



(a) Spindle orientation command (ORCMA)
(b) Clutch/gear signals (CTH1A and CTH2A)
(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)
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.

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

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

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.
- 272 -
5.4.5 Sequence
For this subsection, see Sections 2.2, "POSITION CODER METHOD SPINDLE ORIENTATION
(OPTIMUM ORIENTATION)", and 5.3, "INCREMENTAL COMMAND TYPE SPINDLE
ORIENTATION (SPINDLE ROTATION SPEED CONTROL)" in Part I.

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
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
3018#6 4018#6 4018#6 Type of position coder method spindle orientation
#3 #3 #3 (Sets bits 6 and 3 to 0,0.)
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
3050 4050 4050 Velocity loop integral gain for orientation
3056 to 4056 to 4056 to Spindle-to-motor gear ratio
3060 to 4060 to 4060 to Position gain for orientation
3064 4064 4064 Rate of change in the position gain upon completion of spindle orientation
3076 4076 4076 Speed limit ratio for spindle orientation
3038 4038 4038 Spindle orientation speed
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.)
- 273 -
NOTE
1 For the parameters related to detectors, see the Section 1.3, “PARAMETERS
"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).

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

0 0
0 1
1 0 CCW (counterclockwise) direction looking from shaft 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.
- 274 -
NOTE
the type of the external one-rotation signal (proximity switch) by
using this parameter.
15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3017 4017 4017 NRROEN
state.
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 #7 #6 #5 #4 #3 #2 #1 #0

3018 4018 4018 ORTYP1 ORTYP1
ORTYP1、ORTYP0 Type of position coder method orientation
ORTYP1 ORTYP0 Type of orientation

Specify "0,0" (conventional method orientation).
15i 16i 30i

3031 4031 4031 Position coder method orientation stop position

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

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

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.
- 275 -
NOTE
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.
15i 16i 30i

Unit of data :
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

Unit of data :
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


in the parameter.
signals.
NOTE
proper gear ratio.
- 276 -
15i 16i 30i


15i 16i 30i

3064 4064 4064 Modification rate of position gain on orientation completion
Unit of data : 1%
This data is used to set the modification rate of position gain on spindle orientation completion.
15i 16i 30i


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%
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).
Orientatio n speed of motor (motor speed) = 60 ×

(Position gain) × (Gear ratio)× (Speed limit ratio) [min −1]
100 100
15i 16i 30i


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 (+).
- 277 -
15i 16i 30i

Unit of data : 1%
This parameter sets the motor voltage for orientation. Usually, set 30. The value may vary,
however, depending on the motor model.
15i 16i 30i

3171 4171 4171 CTH1A=0
3172 4172 4172 CTH1A=0
3173 4173 4173 CTH1A=1
3174 4174 4174 CTH1A=1
Unit of data :
feedback signal.
No. 4171 (No. 4173 when CTH1A = 1) = P
No. 4172 (No. 4174 when CTH1A = 1) = Q
NOTE
an arbitrary gear ratio between the motor sensor and spindle by
using this parameter.

For this subsection, see Section 2.2, “POSITION CODER METHOD SPINDLE ORIENTATION
(OPTIMUM ORIENTATION)”, in Part I.
5.4.9 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)
- 278 -
(2) The position gain for spindle orientation is obtained using the following expression:
⎛ Tm ⎞
PG ≤ ⎜⎜ ⎟⎟
⎝ 2 π × (Jm + Jl ) × Rori × GEAR ⎠
where, PG : Position gain for orientation [sec-1] (parameter Nos. 4060 to 4063)
Tm : 30-min rated torque for the motor when rotating at Nori [min-1] [Nm]
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 αiI6 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 ⎠
5.4.10 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 motor speed limit
ratio for orientation Rori.
- 279 -
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 turn at orientation speed Nori [min-1].
0 × 60 1 × 60
≤ t3 ≤
Nori Nori
1
∴0 ≤ t3 ≤
PG × Rori
(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, 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
motor must enter the stop state within one-rotation. In this case, 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 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)
- 280 -
1 4096 × 0.33 1 1
0 .5 + × ln ≤ t ≤ 0 .5 + +
20 10 20 × 0.33 20
4096 × 0.33
× ln
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]
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
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 5.5.7, “Details of Related
Parameters”.

Spindle software
9D50 E (05) FS16i / FS18i / FS21i , FS0i
9D70 A (01) FS30i / FS31i / FS32i
9D80 A (01) FS16i / FS18i / FS21i , FS0i , FS30i / FS31i / FS32i
9DA0 A (01) FS30i / FS31i / FS32i -B
- 281 -
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.
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.
- 282 -
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.

(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



- 283 -

(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 2.5, “SPINDLE SYNCHRONIZATION CONTROL” in Part I .)
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.
(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.
- 284 -
Assert the ROTAA signals at least 50 ms before the synchronous orientation command is input, and keep
it asserted until synchronous orientation is completed.

(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


(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.
(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.
- 285 -
• 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
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.
- 286 -
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 phase synchronization
completion signal (FSPPH)
(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.
- 287 -

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
4811 4811
synchronous error monitor signal is output
3702#3,#2 3729#0 available
Setting for disabling automatic detection of a one-rotation signal when the spindle
4006#4 4006#4
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 same
4032 4032
value for the first and second spindles.)
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
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 same
4065 to 4068 4065 to 4068 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 is
4336 4336
necessary to specify the same value for the first and second spindles.)
4340 4340
(It is necessary to specify the same value for the first and second spindles.)
4369 4369 Synchronous orientation deceleration coefficient
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 See “Function Description: Spindle Synchronous Control” for parameters related
to the spindle synchronous control function.

16i - #7 #6 #5 #4 #3 #2 #1 #0
3702 - OR2 OR1
- 288 -
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

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.
16i 30i
Unit of data : 1%
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.
- 289 -
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.

Spindle software
Series Edition Remark
CNC software
B0H1 M (13) edition or later For the FANUC Series 16i/160i/160is-MB
BDH1 M (13) edition or later For the FANUC Series 18i/180i/180is-MB
BDH5 C (03) edition or later For the FANUC Series 18i/180i/180is-MB5
DDH1 M (13) edition or later For the FANUC Series 21i/210i/210is-MB
B1H1 M (13) edition or later For the FANUC Series 16i/160i/160is-TB
BEH1 M (13) edition or later For the FANUC Series 18i/180i/180is-TB
DEH1 M (13) edition or later For the FANUC Series 21i/210i/210is-TB
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.
- 290 -
CNC SPINDLE
Acceleration/deceleration type
(bit 4 of parameter No. 4394) Coefficient α Coefficient β
FAD time constant (parameter (parameter No. 4344) (parameter No. 4037)
No. 4408) Position Velocity
Linear-/bell-sha feed-forward feed-forward
ped smoothing
(Regular)
position ON:1 FAD position
+ error + + Spindle
+ error Position Speed
FAD ON/OFF + + +
Move command control and
(No.4394#3) 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.
(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.
- 291 -
Specify the same acceleration/deceleration type as for the servo axis for which
interpolation is performed simultaneously with this function.
16i

Valid data range :0 to 10000
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
Unit of data :
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

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.
16i
4409 Feed-forward timing adjustment coefficient

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.
- 292 -

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.
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 Cautions about simultaneous use
Function
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.
Advanced preview
Unusable Usable acceleration/deceleration type, feed-forward coefficient, and
rigid tapping
Cs contouring
control
Hobbling function Unusable Unusable Disable the SV-axis FAD function.
EGB function Unusable Unusable Disable the SV-axis FAD function.
- 293 -
Whether the SV-axis

FAD is usable
If the If the Cautions about simultaneous use
Function
SP-axis SP-axis
FAD is FAD is
disabled enabled
Flexible
synchronization
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.
(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
- 294 -
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.

9D70 A (01) FS30i / FS31i / FS32i
9DA0 A (01) FS30i / FS31i / FS32i -B

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

(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.

- 295 -

Refer to Section 2.10, “ABNORMAL LOAD DETECTION.”
(b) For Series 15i
(c) For Series 30i/31i/32i
Refer to Section 2.9, “UNEXPECTED DISTURBANCE TORQUE DETECTION FUNCTION.”
(d) For Series 0i
(f) For Series 0i-D

Parameter No.
Description
15i 16i 30i
Whether the unexpected disturbance torque detection function is
3015 #1 4015 #1 4015 #1 available
Torque constant for spindle load torque monitoring (for
3248 4248 4248
high-speed output switching characteristics)
Torque constant for spindle load torque monitoring (for
3281 4281 4281
low-speed output switching characteristics)
3249 4249 4249 Observer gain 1 for spindle load torque monitoring

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 switching
3281 4281 4281 characteristics)
Unit of data :
Standard setting value :
Specify the torque constant Kt for calculating the spindle load torque, using the following
calculation:
- 296 -
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]
15i 16i 30i

Unit of data :
Specify the gain (usually “500”) for the spindle load torque estimation observer.
15i 16i 30i


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.
5.7.6 Parameter Tuning Procedure

Initialize the parameters related to the unexpected disturbance torque detection function as listed below.

Whether the unexpected disturbance torque detection
4015#1 function is available (The CNC software option is 1
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]
- 297 -
Jl : Spindle inertia (in terms of motor axis inertia) [kgm2]
Example) Initial torque constant setting for the αiI3/10000

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”.
(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 terminal Output data Setting Resolution
d-05 19
d-06 18
CH1 Motor speed 1638.4 min-1/V
d-07 0
d-08 1
d-09 277
d-10 7 5V = Tmax (motor maximum
CH2 Spindle load torque
d-11 0 output 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) torque (20%/div)
500msec/div
- 298 -
Fig. <3>: Parameter No. 4248 = 12000 (final value)
-1
Motor speed (4096min /div)
The spindle load torque

during acceleration is
almost zero.
Spindle load
torque (20%/div)
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
Refer to Section 1.14.2, “Spindle Electronic Gear Box (M series).”
(b) For Series 30i-A/31i-A5/31i-A
Refer to Section 1.10.2, “Spindle Electronic Gear Box.”
(c) For Series 30i-B/31i-B5/31i-B
NOTE
1 Using this function requires the CNC software option.
2 Using this function requires SP TYPE B for both the master and slave axes.
3 For the master and slave axes, use the spindle software of the same series and
edition.
4 This function cannot be used together with the spindle fine Acc./Dec. (FAD)
function.
5 This function cannot be used together with the toque tandem control function.
6 This function cannot be used with the FANUC Series 15i-MODEL B.
7 This function cannot be used with the FANUC Series 32i.
8 There are no limitations on the assignment of the master and slave axes.
For descriptive purposes, this specification assumes:
Master spindle amplifier: 1st spindle
Slave spindle amplifier: 2nd spindle
- 299 -

Spindle software
9DA0 B (02) FS30i / FS31i / FS32i -B
NOTE
When using the αiCZ sensor (serial) as the motor or spindle sensor, use 9D80
series H (08) edition.
CNC software
B0H1 A (01) edition or later For FANUC Series 16i/160i/160is-MB
BDH1 A (01) edition or later For FANUC Series 18i/180i/180is-MB
BDH5 A (01) edition or later For FANUC Series 18i/180i/180is-MB5
G003/G013/
G023/G033/
28 edition or later
G00C/G01C
For FANUC Series 30i/300i/300is-A
G02C/G03C
G004/G014
01 edition or later
G024/G034
G123/G133
28 edition or later
G12C/G13C For FANUC Series 31i/310i/310is-A5
G124/G134 01 edition or later
For FANUC Series 31i/310i/310is-A

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.
- 300 -
(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
SP
TYPE B
JA7A
JX4
Speed/position
sensor
Spindle
amplifier - to - Built-in spindle motor
spindle
amplifier
communication
JX4
JA7B JYA2
SP
TYPE B
Second axis
(slave axis)
NOTE
When using the αiCZ sensor (serial) as the speed/position sensor, connect the
feedback cable to JYA3.
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.
0,0,1 αiMZ/αiBZ/αiCZ sensor (analog)
4010#2,#1,#0
0,1,1 αiCZ sensor (serial)
4011#2,#1,#0 Depending on the
Setting for the number of motor sensor (speed sensor) teeth
or 4334 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 the
4386 (*) Setting for the number of master-axis motor sensor (speed sensor) teeth
sensor.
(*) This parameter is valid only for the slave axis (second spindle).
- 301 -
(2) System configuration with separate αiBZ sensors or separate αiCZ

sensors
Speed sensor
Spindle
motor
CNC First spindle
(master axis)
Series
16i/160i/160is
JA7B JYA2 Spindle
18i/180i/180is
MODEL B
SP Separate
TYPE B position sensor
JA7A JYA4
JX4
Speed sensor
Spindle
amplifier - to -
spindle Spindle
amplifier motor
communication
JX4
JA7B JYA2 Spindle
SP
TYPE B Separate
position sensor
JYA4
Second spindle
(slave axis)
NOTE
When using the αiCZ sensor (serial) as the separate position sensor, connect the
feedback cable to JYA3.

Depending on the spindle Setting for the relationship between the rotation directions of the
4000#0
configuration spindle and motor
Depending on the spindle
4001#4 Setting for the orientation in which the spindle sensor is mounted
configuration
0,0,1,0 αiBZ sensor, αiCZ sensor (analog)
4002#3,#2,#1,#0
0,1,1,0 αiCZ sensor (serial)
4003#7,#6,#5,#4
Depending on the sensor Setting for the number of spindle sensor (position sensor) teeth.
or 4361
0,0,0 αiM sensor
4010#2,#1,#0
0,0,1 αiMZ sensor
4011#2,#1,#0
Depending on the sensor Setting for the number of motor sensor (speed sensor) teeth
or 4334
Depending on the spindle
4056 to 4059 Setting for the spindle-to-motor gear ratio
configuration
Setting for the number of master-axis motor sensor (speed sensor)
4386 (*) Depending on the sensor
teeth
- 302 -
(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
JA7B JYA2 Spindle
18i/180i/180is
MODEL B External one-rotation
SP signal (proximity
TYPE B switch)
JA7A JYA3
JX4
Speed/position
sensor
Spindle
amplifier - to -
spindle Spindle
amplifier motor
communication
JX4
JA7B JYA2 Spindle
TYPE B signal (proximity
switch)
JYA3
Second axis
(slave axis)

Depending on the Setting for the relationship between the rotation directions of the
4000#0
spindle configuration spindle and motor
4002#3,#2,#1,#0 0,0,0,1 To be used for the position feedback of the motor sensor
4003#7,#6,#5,#4 0,0,0,0 It is unnecessary to specify the number of teeth on the spindle 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 αiMZ/αiBZ/αiCZ sensor (analog)
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 sensor)
4386 (*)
sensor teeth
Depending on the Setting for the master-axis spindle-to-motor gear ratio (arbitrary gear
4498, 4499 (*)
spindle configuration ratio)
- 303 -
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
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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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.
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).”

#7 #6 #5 #4 #3 #2 #1 #0
G066 RTRCT

#7 #6 #5 #4 #3 #2 #1 #0
F065 SYNMOD RTRCTF

Refer to an applicable CNC Connection Manual (Function) for spindle EGB sequences.
FANUC Series 16i/18i/21i-MODEL B CONNECTION MANUAL (FUNCTION) : B-63523EN-1

Parameter No.
Description
16i 30i
7700#0 7700#0 Setting for releasing the synchronous control mode at a reset
7700#2 7700#2 Direction for helical compensation
7709 7709 Axis number for helical gear axial feed axis
7710 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 axis
7772 7772 (master axis)
(Specify 360,000 for the IS-B.)
The number of pulses the position sensor generates at each rotation of the workpiece axis
7773 7773 (slave axis)
8005#4 8005#4 Setting for the type of the PMC axis control constant-speed command function
- 305 -
Parameter No.
Description
16i 30i
- 8007#2 Setting for the velocity command for PMC axis control
16i: Time constant for linear-shaped Acc./Dec. in speed command-based continuous feed
for each axis in PMC-based axis control
8028 8028
30i: Time for calculating the acceleration and deceleration for the velocity command for
PMC axis control
- 8032 Feedrate for calculating the acceleration rate for the velocity command for PMC axis control
Number of pulses the position sensor generates at each rotation of the spindle on a
8040 8040 PMC-controlled axis
4016#3 4016#3 Setting for the feed-forward smoothing function
4352#4 4352#4 Feed-forward setting
4352#6 4352#6 Inter-spindle amplifier communication slave axis setting
4352#7 4352#7 Inter-spindle amplifier communication master axis setting
4036 4036 Feed forward coefficient
4037 4037 Velocity loop feed forward coefficient
4046 4046 Velocity proportional gain on Cs contouring control
4047 4047 (This parameter is selected with the PMC input signal CTH1A.)
4054 4054 Velocity integral gain on Cs contouring control
4069 to 4069 to Position gain on Cs contouring control

4386 4386 Number of master-axis spindle sensor teeth
4387 4387 Synchronous ratio numerator
4388 4388 Synchronous ratio denominator
4498 4498 Denominator of the master-axis motor sensor-to-spindle arbitrary gear ratio
4499 4499 Numerator of the master-axis motor sensor-to-spindle arbitrary gear ratio
4396#2 4396#2 Setting for on-off switching of the EGB command on Cs contouring control
NOTE
1 See Section 1.3, “PARAMETERS RELATED TO DETECTORS”, in Part I for
2 See Section 4.1, “VELOCITY LOOP GAIN ADJUSTMENT”, in Part I for velocity

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.
FANUC Series 16i/18i/21i-MODEL B CONNECTION MANUAL (FUNCTION) : B-63523EN-1
- 306 -
(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. Refer to an applicable CNC manual for details of this function and PMC axis
control.

“FANUC Series 16i/18i PMC Axis Control Function Constant-Speed Command Position Control
Function Description: A-63542E”
“FANUC Series 16i/18i/21i-MODEL B CONNECTION MANUAL (FUNCTION): B-63523EN-1
Refer to Section 15.1, “PMC AXIS CONTROL FUNCTION.”
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-B 30i-A #7 #6 #5 #4 #3 #2 #1 #0
8005 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”
30i-A #7 #6 #5 #4 #3 #2 #1 #0
8007 VCP
VCP Velocity command for PMC axis control

0 : FS15 specification
1 : FS16 specification
To be set to “1”
16i-B
8028 Time constant for linear-shaped Acc./Dec. in speed command-based
continuous feed for each axis in PMC-based axis control
Unit of data : 1msec / 1000min-1

Specify the time constant for linear-shaped Acc./Dec. for the PMC-controlled axis.
30i-A
8028 Time for calculating the acceleration and deceleration for the velocity
command for PMC axis control
- 307 -

Sets the acceleration rate of parameter No. 8032 and this parameter in the velocity
command for PMC axis control.
30i-A
8032 Feedrate for calculating the acceleration and deceleration for the velocity
command for PMC axis control
Unit of data : min-1

Sets the acceleration rate of this parameter and parameter No. 8028 in the velocity
command for PMC axis control.
16i-B 30i-A
8040 8040 Number of pulses the position sensor generates at each rotation of the spindle
on a PMC-controlled axis
Unit of data : Minimum detection unit

Valid data range : 1 to 999,999,999
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.

This paragraph details the serial spindle parameters related to the EGB (for the 16i, parameter Nos. 4000
to 4999). See Section 2.4, “Cs CONTOURING CONTROL”, in Part I for details of parameters related to
Cs contouring control.
16i-B 30i-A #7 #6 #5 #4 #3 #2 #1 #0
4016 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-B 30i-A #7 #6 #5 #4 #3 #2 #1 #0
4352 4352 MASTER SLAVE FFALWS
MASTER Inter-spindle amplifier communication master axis setting

0 : Non-inter-spindle amplifier communication master axis
1 : Inter-spindle amplifier communication master axis (Set 1 for the master axis.)
SLAVE Inter-spindle amplifier communication slave axis setting
0 : Non-inter-spindle amplifier communication slave axis
1 : Inter-spindle amplifier 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.
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Set 0 for the spindle EGB master axis (first spindle) and 1 for the slave axis (second
spindle).
16i-B 30i-A
4036 4036 Feed-forward coefficient
Unit of data : 1%
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).
16i-B 30i-A
4037 4037 Velocity loop feed forward coefficient
Unit of data :
Set the velocity loop feed forward coefficient when feed forward control is executed on
Cs contouring control. Set the following calculation equation.
[spindle inertia + rotor inertia] (kgm2)

Setting = 214466 ×
motor maximum torque (Nm)
16i-B 30i-A
4386 4386 Number of master-axis spindle sensor teeth
Unit of data : 1λ / rev

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-B 30i-A
4387 4387 Synchronous ratio numerator

Specify the numerator of a synchronous ratio.
NOTE
16i-B 30i-A
4388 4388 Synchronous ratio denominator

Specify the denominator of a synchronous ratio.
- 309 -
NOTE
16i-B 30i-A
4498 4498 Denominator of the master-axis motor sensor-to-spindle arbitrary gear ratio
4499 4499 Numerator of the master-axis motor sensor-to-spindle arbitrary gear ratio

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 (αiM or αiMZ 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
16i-B 30i-A #7 #6 #5 #4 #3 #2 #1 #0
4396 4396 EGBRNX
EGBRNX Setting for on-off switching of the EGB command on Cs contouring control
0 : Does not carry the remainder of the EGB move command that is produced when the
EGB mode is turned off to the next time.
1 : Carries the remainder of the EGB move command that is produced when the EGB
mode is turned off to the next time.
Specifies whether to reflect the remaining data of the EGB move command (=
synchronous ratio × travel distance along the master axis) that is produced when the EGB
mode is turned off to the next time when the EGB mode is turned on.
Set "1" when repeatedly turning the spindle EGB mode on and off while Cs contouring
control is kept on.
NOTE
*1 This parameter is valid only for the slave axis (second spindle).
*2 This parameter is valid with 9D50 series X (24) edition or later,
9D70 series M (13) edition or later, 9D80 series I (09) edition or
later, 9D90 series A (01) edition or later, and 9DA0 series B (02)
edition or later.
5.8.9 Diagnosis Signal Related to Spindle EGB

Address
Description Unit
16i
0717 Synchronous error between master and slave axes. (Weight is slave side) Pulse
- 310 -
NOTE
1 Displaying this data on the CNC diagnosis screen requires the αi SP 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 :B0H1 series R(18) edition or later
FS18i/180i/180is-MB : BDH1 series R(18) edition or later
FS18i/180i/180is-MB5 : BDH5 series H(08) edition or later
5.8.10 Status Errors Related to Spindle EGB

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
(1) Spindle alarm
An error occurred in inter-spindle amplifier
66 Check the connection of the cable (JX4).
communication.
An alarm was issued on the destination
Correct the cause of the alarm on the destination
80 amplifier of inter-spindle amplifier
spindle amplifier.
communication.
(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.

FANUC Series 16i/18i-MODEL B

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.


PS1593 Parameter setting mistake related to the EGB
PS1594 Invalid block format of the EGB command
- 311 -

PS1595 A command that should not be issued during EGB synchronization was issued.
PS1596 An overflow occurred for the synchronization coefficient calculation.
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.

Spindle software
9D50 F (06) FS16i / FS18i / FS21i , FS0i , FS15i
9D70 A (01) FS30i / FS31i / FS32i
NOTE
5.9.3 Configuration
The following figure shows an example of a configuration used for differential spindle speed control.
- 312 -
Spindle motor with Spindle motor with

built-in αiM sensor built-in αiM sensor
Master side
spindle
Slave side
spindle
αi position coder αi position coder
Directly connected or
connected with a gear or
(Master side) (Slave side)

SP SP
TYPE A Sub module SW
TYPE B
JX4 JX4
JYA2 JYA2 JYA2M
JYA3 JYA3 JYA3M
JYA4 JYA3S
NOTE
1 The sub module SW (SSW) is required in addition to the spindle amplifier to
receive the position coder signal from the master side.
2 When the position coder output of connector JX4 is used, spindle amplifier (SP)
TYPE B is used (The maximum speed available for the position coder output is
20000 min-1).
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.
- 313 -

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G229 G072 G072 DEFMDA
2nd- G237 G076 G076 DEFMDB

(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.

There are no output signals.

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.
- 314 -
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>

Parameter No.
Description
15i 16i 30i
Whether the differential spindle speed control function is available (to be
3000 #5 4000 #5 4000 #5
set to 1)
3000 #6 4000 #6 4000 #6 Setting of direction for differential spindle speed control
Setting of speed integration operation when differential spindle speed
3017 #0 4017 #0 4017 #0
control is exercised

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
- 315 -
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.
NOTE
This parameter is valid with 9D50 series M (13) edition or later,
9D70 series C (03) edition or later, and 9D80 series A (01) edition
or later.
5.9.9 Status Errors on Differential Spindle Speed Control

Differential spindle speed mode and Cs mode
10 Check the sequences.
are specified at the same time.
Differential spindle speed mode is specified
during spindle synchronous control.
Differential spindle speed mode is specified
during spindle orientation.
Differential spindle speed mode is specified with Check the parameter settings and
16
speed differential control disabled. sequences.
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.
- 316 -

Spindle software
Series Edition Usable CNC Remarks
Usable only for the dual position feedback function in Cs
A (01) FS16i / FS18i /
contouring control
9D50 FS21i , FS0i ,
FS15i Usable for the dual position feedback function in the servo mode
M (13)
(rigid tapping/spindle positioning)
Usable only for the dual position feedback function in Cs
A (01)
FS30i / FS31i / contouring control
9D70
FS32i Usable for the dual position feedback function in the servo mode
C (03)
(rigid tapping/spindle positioning)
FS16i / FS18i /
FS21i , FS0i ,
9D80 A (01)
FS15i , FS30i /
FS31i / FS32i
FS16i / FS18i /
FS21i , FS0i ,
9D90 A (01)
FS15i , FS30i /
FS31i / FS32i
FS30i / FS31i /
9DA0 A (01)
FS32i -B
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)
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
- 317 -
to this principle, vibration during movement can be suppressed to a level equivalent to the level obtained
in the semi-closed loop.

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
9D80 series A edition (01 edition) or later
9D90 series A edition (01 edition) or later
9DA0 series A edition (01 edition) or later

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
3014 4014 4014 DUALFB
DUALFB Setting of dual position feedback

0 : Disables dual position feedback.
1 : Enables dual position feedback.
To use the dual position feedback function, set “1”.
- 318 -
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 :
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

3215 4215 4215 Primary delay time constant in dual position feedback [in Cs contouring control]

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)

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.
15i 16i 30i

3225 4225 4225 Dual position feedback zero width [in Cs contouring control]
Unit of data : 1 pulse (=0.001deg)

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.
- 319 -
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)

This parameter sets an excessive semi-closed loop/closed loop position error alarm
(spindle 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
(spindle alarm 61) is issued.
15i 16i 30i

3520 4520 4520 Primary delay time constant in dual position feedback[in servo mode]

This parameter sets a primary delay time constant in dual position feedback in the servo
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
or later.
15i 16i 30i

3521 4521 4521 Maximum amplitude in dual position feedback [in servo mode]
Unit of data : 1 pulse unit (=360/4096 degrees)

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
or later.
- 320 -
15i 16i 30i

3522 4522 4522 Dual position feedback zero width [in servo mode]

This parameter sets a dual position feedback zero width in the servo mode (rigid
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.
allowable value.
NOTE
or later.
15i 16i 30i

Excessive semi-closed loop/closed loop position error alarm detection level
3523 4523 4523
[in servo mode]

This parameter sets an excessive semi-closed loop/closed loop position error alarm
(spindle 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
(spindle alarm 61) is issued.
allowable value.
NOTE
or later.
5.10.6 Spindle Alarm

The difference (semi-closed loop/closed position
Correct the cause of the semi-closed
61 error) between the semi-closed loop and the
loop/closed position error.
closed loop exceeds the set value.
- 321 -
5.11 Velocity Tandem Control Function (OPTIONAL

FUNCTION)
5.11.1 Overview
Spindle tandem control is a function that drives the spindle with two motors to provide a large output that
cannot be obtained with one motor. The following two types are available:
(1) Velocity tandem control
(2) Torque tandem control (induction spindle motor only)
While velocity control is disabled on the slave side in torque tandem control, it is enabled in velocity
tandem control. For this reason, velocity tandem control offers greater slave axis stability. Therefore,
when applying spindle tandem control, select velocity tandem control under normal circumstances.
Note that, in cases where you do not want the slave axis to exert velocity control (you want both axes to
have the same torque although they widely differ in speed), as in wheel lathing, you need to adopt torque
tandem control.
The velocity tandem control function drives two spindle motors connected to the spindle using the same
velocity command.
- 322 -
NOTE
1 This function has been added to spindle tandem control, which is a CNC
software option.
2 When the NC is 30i-B, the spindle tandem control function is included in the
spindle synchronous control option.
3 To use this function, SP TYPE B is required.
edition.
5 The motors of both axes must be of the same model (both must be induction
spindle motors or synchronous spindle motors).
6 Position and velocity control is exerted by the master axis, and the velocity
command and the torque command for the velocity integral term of the master
axis are passed to the slave axis. The slave axis outputs the torque of obtaining
by adding the velocity integral term and the velocity-controlled velocity
proportional term.
7 If the gear ratio to the spindle differs between the two axes, the velocity
command that the slave axis receives from the master axis is used by converting
it with the gear ratio set for it.
8 The effect of backlash between gears can be reduced by combining the master
and slave axes with preloads applied on them.
9 The slave axis preload can be scaled in case the characteristics of the two axes
are different.
10 This function can be enabled or disabled by turning on or off the PMC signal to
the master and slave axes. When the function is disabled, each motor can be
operated individually.
11 This function can be used in velocity control mode, spindle orientation, rigid
tapping mode, or Cs contour control.
12 Make sure that the motors of both axes are stopped when performing the speed
range switching operation.
13 This function cannot be used together with the following functions:
・Spindle synchronous control function
・Spindle switching function
・Position coder signal output function
・Spindle EGB function
・Spindle leaning control function
14 This function cannot be used for twin drives (two-winding motors and induction
machines only).
15 No limitation is imposed on master and slave axis assignment.
In the descriptions herein, the following assignment is used for convenience:
Master spindle amplifier: First spindle
Slave spindle amplifier: Second spindle
16 Depending on the type of spindle sensor in use, there may be a limitation on the
detection speed for a one-rotation signal.

Spindle software
9D90 B (02) FS30i-A / FS31i-A
9DA0 F (06) FS30i-B / FS31i-B
- 323 -
NOTE
To use the αiCZ sensor (serial), the 9D90 series G (07) edition or later or the
9DA0 series I (09) edition or later is required.

NOTE
1 For connection details of each cable, refer to “FANUC SERVO AMPLIFIER αi
series DESCRIPTIONS (B-65282EN)”.
2 The common power supply (PS) emergency stop signal (connector CX4) needs
to be input for each common power supply (PS).
(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)
αiM/αiMZ sensor
CNC JA7B JYA2
1st spindle
(master)
SP TYPE B
JA7A
Chuck
JX4
Inter-spindle amplifier connection Workpiece
JX4
JA7B JYA2 Chuck
2nd spindle
(slave)
SP TYPE B
αiM/αiMZ sensor
Spindle motor
(slave)
NOTE
1 When the master and slave are mechanically disconnected, velocity tandem
control cannot be used. In this case, cancel the tandem operation mode.
2 When a synchronous spindle motor is used, the power line between the amplifier
and the motor needs to be connected via the sub module SM (SSM).
3 To perform pole detection when a synchronous spindle motor is used, release the
mechanical connection to free the synchronous spindle motor.
- 324 -
(2) Sample configuration 2: System where the table axis is driven by two
motors
Spindle motor
(master)
CNC JA7B JYA2 αiM sensor
1st spindle
(master)
SP Type B Gear
JA7A JYA4
JX4
αiBZ sensor
Spindle
Inter-spindle
amplifier connection
JX4
JA7B JYA2 αiM sensor
2nd spindle Gear

(slave)
SP Type B
Spindle motor
(slave)
NOTE
The synchronous spindle motor BiS series is a built-in motor and cannot be used
for a system such as the above one.

NOTE
1 A command for the spindles engaged in tandem operation is issued to the
master spindle amplifier.
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 spindle amplifier. Those signals that are required to drive
the slave spindle amplifier are transferred from the master spindle amplifier by
inter-spindle amplifier communication.
3 During tandem operation, use a signal output from the master spindle amplifier
for sequence determination (such as speed arrival determination and alarm
detection). (No signal output from the slave spindle amplifier is needed.)

30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G070 SOCNA CTH1A CTH2A
2nd- G074 SOCNB CTH1B CTH2B
- 325 -
CTH1A,CTH2A Clutch/gear signal (for the first spindle)

CTH1B,CTH2B Clutch/gear signal (for the second spindle)
0,0 : HIGH GEAR
0,1 : MEDIUM HIGH GEAR
1,0 : MEDIUM LOW GEAR
1,1 : LOW GEAR
Set these signals based on the status of the clutch or gear. They are used to select the
spindle control parameters.
NOTE
In the case of velocity tandem control, note the following:
1 In the velocity tandem control mode, the gear signal
(CTH1/CTH2)m for the master axis takes effect for both the master
and slave axes. This means that the gear signal for the slave axis
is internally linked with the gear signal for the master axis (to
prevent the input of the wrong gear signal).
2 For the reason mentioned above, make sure that the numbers of
the parameters selected by the gear signal in the velocity tandem
control mode are the same for both the master and slave axes.
3 In the normal operation (the velocity tandem control mode is off),
the respective gear signals (CTH1/CTH2)m and (CTH1/CTH2)s
take effect individually for the master and slave axes.
4 In the velocity tandem control mode, the gear signal for the slave
axis (CTH1/CTH2)s does not take effect but may be input in the
same way as the gear signal for the master axis (CTH1/CTH2)m.
5 The value of bit 2 of parameter No. 4006 for setting the speed unit
needs to be the same for both the master and slave axes.
30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G071 SOCNA
2nd- 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 spindle
amplifier.
NOTE
1 When using the soft start/stop function, set the acceleration rate in
parameter No. 4030.
30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G073 MPOFA SLVA
2nd- G077 MPOFB SLVB
SLVA Tandem operation command (for the first spindle)

SLVB Tandem operation command (for the second spindle)
- 326 -
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 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 velocity control mode. In a mode other
than the velocity 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.
4 To input the SLV signal when a synchronous spindle motor is used,
make sure that the pole detection complete state EPFIXx is set to 1
for the motors of both axes (first spindle: F048#7 and second
spindle: F052#7). Turn off the SLV signal when the pole detection
incomplete state is set.
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 spindle
amplifier.
NOTE
1 If any abnormality, such as an excessive master-slave speed
difference, is detected when the velocity tandem operation is
enabled, the power to both the master and slave motors needs to
be turned off in order to minimize mechanical damage.
Turn off the power to the motors by using these signals.
2 When a synchronous spindle motor is used, the motors decelerate
to a stop using the SSM, rather than coast to a stop, even if these
signals are input.

30i #7 #6 #5 #4 #3 #2 #1 #0
1st- F045 SSTA
2nd- 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.
- 327 -
30i #7 #6 #5 #4 #3 #2 #1 #0
1st- F046 SLVSA
2nd- 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 spindle amplifier.
30i #7 #6 #5 #4 #3 #2 #1 #0
1st- F047 MSOVRA
2nd- 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 (FS30i: No. 4347).
The signal for the slave spindle amplifier need not be monitored. (At all times, 0 is output.)
CAUTION
1 If a motor feedback signal disconnection alarm (spindle alarm 73) is
issued, the status of this signal is undefined.
2 When bit 5 of parameter No. 4007 is set to "1", the detection
operation of the feedback signal disconnection alarm is not
performed.
Set the parameter to "0" when not required, to enable alarm
detection.
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).

NOTE
Examples of sequences are given below assuming the following:
First spindle: Master spindle amplifier
Second spindle: Slave spindle amplifier
- 328 -
(Example 1) Velocity control mode

Speed zero detection
signal
SSTA&SSTB
Tandem operation
command
SLVA&SLVB
Tandem operation 300ms or more

state
SLVSA&SLVSB
Spindle speed Sxxxx (≠0)

command
S code
S0
Master spindle
amplifier spindle
rotation command
SFRA&SRVA
Motor speed
- 329 -
(Example 2) Spindle orientation

signal
SSTA&SSTB
Tandem operation
command
SLVA&SLVB
300ms or more
Tandem operation
state
SLVSA&SLVSB
Sxxxx (≠0)
Spindle speed
command
S code S0
Master spindle
amplifier spindle
rotation command
SFRA&SRVA
Master spindle
amplifier orientation
command ORCMA
Master spindle
completion signal
ORARA
Motor speed
- 330 -
(Example 3) Rigid tapping

signal
SSTA&SSTB
Tandem operation
command 300ms or
SLVA&SLVB more
Tandem operation
state
SLVSA&SLVSB
Master spindle
amplifier spindle
rotation command
SFRA&SRV
Rigid tapping
command
M29 Sxxxx
G84 Zyyyy . . .
Motor speed
- 331 -
(Example 4) Cs contouring control

signal
SSTA&SSTB
Tandem operation
command
SLVA&SLVB 300ms or more
Tandem operation
state
SLVSA&SLVSB
Sxxxx (≠0)
Spindle speed
command
S code S0
Master spindle
amplifier spindle
rotation command
SFRA&SRVA
command
G00 C0.
G01 Cxxxx . . .
Motor speed
5.11.6 Parameters
(1) Cautions
For the master spindle amplifier and slave spindle amplifier, set the same parameters except for the
following specific parameters:
Parameter No.
Description Master setting Slave setting
30i
Depending on the Depending on the
4002#3 to 0 Spindle sensor type
spindle configuration spindle configuration
Relationship of master/slave motor rotation Depending on the
4353#2 0
directions in tandem operation spindle configuration
Inter-spindle amplifier communication
4352#7,6 1, 0 0, 1
setting
Machine by machine
4360 Preload value 0
(adjustment value)
Machine by machine
4606 Preload constant 0
(adjustment value)
(2) List of parameters

Parameter No.
Description
30i
4009#2 Motor power turn-off method when spindle alarm 24 (serial data transfer error) is issued
4015#3 Whether to use the spindle tandem function
- 332 -
Parameter No.
Description
30i
4352#7,6 Inter-spindle amplifier communication setting
4353#1 Velocity feedback signal setting in tandem operation
4353#2 Relationship of master/slave motor rotation directions in tandem operation
4398#3 Whether to use the twin drive function
4398#4 Whether to use the velocity tandem function
4398#5 Whether to use the velocity integrator copy function
4398#6 Whether to detect a speed polarity error (spindle alarm d0) in tandem operation
4402#3 Whether to use the torque tandem function (for 30i-B)
4347 Output value for the master-slave speed difference state signal
4360 Preload value
4606 Preload constant
4541#3 Scaling function for the slave axis preload during velocity tandem control
4541#4 Scaling function for the slave axis velocity command during velocity tandem control
4541#5 Tandem command SLV acceptance condition setting
4541#6 Master/slave motor rotation direction relationship for the extended integral copy
4597 Setting for the extended integral copy
(3) Details of Parameters

30i #7 #6 #5 #4 #3 #2 #1 #0
4009 ALSP
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 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 tandem function, be sure to set this parameter to 1 to turn
off the power to the motors immediately if a CNC-SP
communication error occurs.
30i #7 #6 #5 #4 #3 #2 #1 #0
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 tandem function does not operate normally.
When this bit is set to 0, check the software option.
30i #7 #6 #5 #4 #3 #2 #1 #0
4352 MASTER SLAVE

1 : Inter-spindle amplifier communication slave axis (Set this parameter to 1 for the
slave spindle amplifier.)
- 333 -

1 : Inter-spindle amplifier communication master axis (Set this parameter to 1 for the
30i #7 #6 #5 #4 #3 #2 #1 #0
4353 RVSVC2 VFBAV
VFBAV Velocity feedback signal setting in tandem operation

0 : For speed control, the master spindle amplifier motor speed only is used.
1 : For speed control, the average speed of the master spindle amplifier and slave
spindle amplifier 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 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 spindle amplifier side.
(The setting for the master spindle amplifier is transferred to the
slave spindle amplifier by inter-spindle amplifier communication.)
2 If the setting of this parameter is improper, the tandem function
does not operate normally.
If the spindle is rotated in this state, the speed polarity error alarm
(spindle alarm d0) is issued in tandem operation.
30i #7 #6 #5 #4 #3 #2 #1 #0
4398 A130DN WSVCP VTAN WNDTDM
WNDTDM Whether to use the twin drive function

NOTE
If this bit is set to 1, the torque tandem function does not operate
normally. Be sure to set this bit to 0.
VTAN Whether to use the velocity tandem function

0 : Does not use the velocity tandem function.
1 : Uses the velocity tandem function.
WSVCP Whether to use the velocity integrator copy function

0 : Does not use the velocity integrator copy function.
1 : Uses the velocity integrator copy function.
- 334 -
When using the velocity tandem function, set WSVCP and VTAN to 0 and 1 (velocity
tandem control only) or 1 and 1 (velocity tandem control + velocity integrator copy
function), respectively.
A130DN Whether to detect the speed polarity error (spindle alarm d0) during tandem control
0 : Detects the error.
1 : Does not detect the error.
30i #7 #6 #5 #4 #3 #2 #1 #0
4402 TRQTDM
TRQTDM Whether to use the torque tandem function

NOTE
1 While this bit is valid when the NC is 30i-B, set it to "0" also when
the NC is 30i-A.
2 When this bit is set to "1", the velocity tandem function does not
work normally. Be sure to set it to "0".
30i
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)
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.
30i
4360 Preload value
Unit of data : ±16384 equivalent to a torque command of 100%

Valid data range : -8192 to 8192(-50% to +50%)
This parameter sets a preload value.
This parameter may suppress stop-time vibration caused by backlash.
- 335 -
NOTE
1 When "0" is set for the slave axis, the value set for the master axis is used as the
slave axis preload. Note that its polarity is determined by the polarity set by
N4360 for the master axis and N4353#2.
2 When a value other than "0" is set for the slave axis, the value set for the slave
axis is used as the slave axis preload.
Since the preload torque is always added to the torque command, as shown in
the block diagram of Subsection 5.11.7, set the preload values depending on the
motor rotation directions of the master and slave axes, as follows.
When the rotation directions are the same: The values set for the master and
slave axes have different signs.
When the rotation directions are different: The values set for the master and
slave axes have the same sign.
3 When two motors having different characteristics are used, set the slave axis,
taking into consideration the ratio of the maximum torque Tmax of the motor of
the master axis to that of the slave axis.
Absolute value set for the slave axis = (Master axis Tmax/slave axis Tmax)･
Absolute value set for the master axis
30i #7 #6 #5 #4 #3 #2 #1 #0
4541 NSSTTD DIFRED DIFMTC
DIFMTC Scaling function for the slave axis preload during velocity tandem control
0 : Disables the scaling function for the slave axis preload.
1 : Enables the scaling function for the slave axis preload.
When the motors of the two axes have different characteristics, the preload data of the
slave axis is scaled based on the difference in the base speed so that the actual preload
values of both axes become equal. To use this function, set "1" for the slave axis.
NOTE
1 When using this function, be sure to set a preload value for the
slave axis as well by using N4360.
2 Refer to "Additional information 1: When using two motors having
different gear ratios or different characteristics" in this section.
DIFRED Scaling function for the slave axis velocity command during velocity tandem control
0 : Disables the scaling function for the slave axis velocity command.
1 : Enables the scaling function for the slave axis velocity command.
By setting "1" for both axes when the gear ratio between the motor and spindle is
different for the two axes, the gear ratio is taken into consideration for the velocity
command for the slave axis during velocity tandem control.
NOTE
1 Refer to "Additional information 1: When using two motors having
different gear ratios or different characteristics" in this section.
NSSTTD Tandem command SLV acceptance condition setting

0 : Accepts the SLV signal when the speed is 0 (the SLV signal is not accepted when
the motor is rotating).
- 336 -
1: Accepts the SLV signal even when the speed is not 0 (the SLV signal can be
accepted even when the motor is rotating).
30i
4606 Preload time constant

Valid data range : 0～50
Sets the time constant of the rise of the preload that can be used for spindle tandem
control. If this parameter is set to 0, 32 msec is assumed.
NOTE
1 If a preload value (No. 4360) is set when spindle tandem control is
exerted, a mechanical shock may occur when the preload torque
rises after excitation. Setting a larger value in this parameter helps
mitigate this mechanical shock.
The following parameter needs to be set when an integral copy is made between two axes that are driven
by spindle simple synchronous control during tandem drive using four or more spindle motors (extended
integral copy). For information about this setting, see also "Additional information 2: Spindle drive using
four or more spindle motors" in Subsection 5.11.9, "Additional Information".
30i #7 #6 #5 #4 #3 #2 #1 #0
4541 RVDPOL
RVDPOL Master/slave motor rotation direction relationship for the extended integral copy
0 : The rotation directions of the master and slave motors are the same during spindle
rotation (when viewed from the motor shaft).
1 : The rotation directions of the master and slave motors are opposite during spindle
Set this parameter for the slave axis for the extended integral copy function.
30i
4597 Setting for the extended integral copy

Sets the master and slave axes for the extended integral copy.
0: The function is disabled.
-1: : Setting of the master axis: When "-1" is set, the master axis for the extended
integral copy is used.
Larger than 0: Setting of the slave axis: Specify the master axis number to be received in
data transfer.
(Use a logical spindle number to specify which spindle is to be used as the master
axis.)
NOTE
If an invalid value is set in this parameter or a spindle amplifier not
supported for this parameter is used, the following alarm occurs:
SP1252 Invalid spindle parameter setting (tandem)
- 337 -
5.11.7 Block Diagram for the Velocity Tandem Operation

The following figure shows the rough block diagram for the velocity tandem operation.
(1) The velocity command, speed integral term, and preload value are passed from the master axis to the
slave axis according to the polarity determined by the parameter that defines the master/slave
connection direction.
(2) The slave axis performs proportional term processing based on the received velocity command
(when the speed integral copy function is disabled (N4398#5=0), the slave axis also performs
integral term processing). It then adds the received speed integral term and preload value to create a
torque command.
Master axis Velocity feedback
Velocity
command Torque
－
command [%]
＋ Velocity loop Torque
Position limit Motor
P/I
command Position ＋
loop ＋
＋
－ Preload
Velocity Speed integral N4360
command term (I)
Determination of polarity (N4353#2) Spindle

Spindle
sensor
Amplifier - to – amplifier
communication
Slave axis ＋
＋
Velocity
command ＋
Velocity loop ＋ Torque
Motor
＋ P only limit
Torque
－
command [%]
Velocity feedback
(*) In the torque command, [%] represents the torque in percentage with the maximum torque of
the master and slave motors being 100%.
5.11.8 Alarm and Status Error

(1) Spindle alarm
Alarm No. Description Measure
An inter-spindle amplifier communication error
occurred.
An alarm was issued on the destination spindle Correct the cause of the alarm on the destination
80
amplifier of inter-SPM communication. spindle amplifier.
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) Spindle amplifier status error

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 when Specify spindle synchronous control after
22
tandem operation is enabled. canceling tandem operation.
- 338 -
A tandem operation command is input even if Tandem control requires the CNC software
23
the option is not specified. option. Check the option.
- Parameters related to inter-spindle amplifier
communication are not set correctly.
38 Check the parameters.
- Functions that cannot be used together with
the torque tandem function are set.
5.11.9 Additional Information

(1) Additional information 1: When using two motors having different gear
ratios or different characteristics
The following additional information applies when two motors having different gear ratios or different
characteristics are used in the velocity tandem operation.
During the velocity tandem operation, control is exerted as shown in the rough block diagram below.
Rough block diagram for the velocity tandem operation
Velocity feedback
Velocity Master axis
command － Torque
＋ command [%]
Velocity loop Torque
Position Motor
P/I ＋ limit
command Position
Velocity Velocity ＋
loop
＋ command integral term (I)
－
Determination of polarity (N4353#2) Preload
Gear ratio s Amplifier - to – amplifier

Gear ratio m communication Spindle
Spindle
sensor
Slave axis Preload
Scaling
Velocity ＋＋
command
＋
Motor
＋ P only limit
Torque
－ command [%]
Velocity feedback
(*) In the torque command, [%] represents the torque in percentage with the maximum torque of
the master and slave motors being 100%.
(1) The velocity command and speed integral term are passed from the master axis to the slave axis.
The velocity loop of the slave axis is processed only for the proportional term, and the velocity
integral term and preload value received from the master axis are added to create a torque command.
The polarity of the velocity command and velocity integral term passed to the slave axis is
determined by bit 2 of parameter N4353 of the master axis.
(2) If the gear ratio for the spindle differs between the two axes, the scale of the velocity command to be
used and the actual speed of the other side can be converted as follows, by enabling the velocity
command scaling function. The subscripts m and s represent the master axis and slave axis,
respectively.
[Velocity command scaling equation] (Velocity command)s = (Gear ratio)s × (Velocity
command)m/(Gear ratio)m
- 339 -
The gear ratios used in the above equation are the parameter values that the master and slave
axes select from their respective gear ratio parameters N4056 to N4059. Note that, in this case,
the gear signals CTH1 and CTH2 of the master axis are copied as the internal gear signals CTH1 and
CTH2 of the slave axis, as shown in the following figure. Therefore, the slave axis selects gear ratios
according to the gear signals of the master axis.
(Master axis) (Slave axis)

Gear ratio parameter Gear ratio parameter
Select Select
N4056 N4056
Gear
N4057 ratio N4057 Gear
used ratio
N4058 N4058
used
N4059 N4059
Internal CTH1,2
Velocity tandem
Non-velocity tandem
Master axis gear signals CTH1 & 2 Slave axis gear signals CTH1 & 2
NOTE
When using the velocity command scaling function, note the following:
1 Since the gear signals CTH1 and CTH2 of the master axis take effect for both
the master and slave axes, the gear ratio parameter (N4056 to N4059) for each
axis is selected according to the gear signals of the master axis.
2 By using the gear ratio parameters selected as described above, the two axes
perform their respective shares of the processing. The sending side carries out
the spindle-end conversion of the velocity command (or actual speed) and sends
the result and the receiving side carries out the motor-end conversion of the
received value, in order to obtain the values appropriate for the two axis ends.
Because of this processing, a slight error may occur for the velocity command to
be used by the slave axis.
3 If the calculated velocity command exceeds the maximum spindle speed of the
slave axis, it is clamped to the maximum spindle speed.
4 The value of bit 2 of parameter N4006 for setting the speed unit needs to be the
same for both axes.
(3) When velocity tandem control is used for two motors having different gear ratios or different
characteristics, use a slave motor whose maximum torque below the base speed is equal to or smaller
than that of the master motor.
(4) The following figure shows a conceptual diagram of the motor output and total output in this case.
NOTE
The following conceptual diagram (Fig. 1) shows how the torques of two motors
are totaled. In reality, the total value needs to be estimated at a smaller value
according to the efficiency η (0% to 100%) of each machine.
- 340 -
Torque
Total output torque
η･(Mmax + Smax)
Mmax: Master axis maximum torque (acceleration maximum torque)
Master axis ωmb: Base speed at master axis maximum torque
Mmax torque Smax: Slave axis maximum torque (acceleration maximum torque)
ωsb: Base speed at slave axis maximum torque
Slave axis
torque
Smax
[Fig.1]
ωsb ωmb Speed
(5) The ratio of the maximum torque and the continuous rated torque is assumed to be the same for both
axes (Fig. 2). Therefore, if this torque ratio is widely different, the sharing of motor output may
become unbalanced relative to the continuous rated torque.
Note that, even when the torque ratio is the same as shown in Fig. 2, the actual torque of the motor of
each axis becomes different as shown in Fig. 3, if the base speeds of the two axes are different. In this
case, the total torque characteristics are as shown in Fig. 1, while the output characteristics are as
shown in Fig. 4.
Torque command
Maximum output torque command 100% [Master axis output] [Slave axis output]
Max. 90kW 100% 100%

Continuous rated torque command [example: 70%]
Max. 45kW
Continuous 60kW(67%)
Continuous 30kW(67%)
[Fig.2] A B A B
Speed
Actual torque Continuous Max. [Total output]
Master axis
Max. torque Slave axis Max. 135kW
100%
Cont.rated torque
at const.torque Continuous 90kW
range [Fig.4]
A(=ωsb: Slave axis base speed)
B(=ωmb: Master axis base speed)
[Fig.3] ωsb ωmb Speed
A B
(6) The preload is a function that combines the master and slave axes with an offset applied in the
direction opposite to that of the motor of each axis in relation to the torque to be controlled so as to
reduce the effect of the backlash between the master and slave axes.
- 341 -
Master axis Slave axis
Spindle
+Pm -Ps
rotation
Drive direction Drive
torque (move torque
(+)direction)
The relationship of the preload, drive torque, and move direction are
as shown in this figure. For an illustrative diagram depicting this
relationship in a horizontal dimension, see Fig. 6 on the next page.
For example, when the preload for the master axis is +Pm and that for the slave axis is −Ps, torque is
generated as shown in Fig. 5.
When a large torque is necessary in cases such as during acceleration or deceleration, the two motors
generate torque in the same direction (load sharing mode).
When almost no torque is necessary in cases such as when the motors are stopped, the motors pull
each other (anti-backlash mode).
The preload cannot be used when the anti-backlash mode is always desired.
スレーブ軸
Slave axis マスタ軸
Master axis
-Ps +Pm
Stop
停止時主軸
Spindle
Slave axis
スレーブ軸 Drive
駆動トルク torque マスタ軸
Master Drive torque
axis 駆動トルク
-Ps +Pm
加速時
Accelerate
主軸
Spindle
Move direction
移動方向
Slave axis
スレーブ軸マスタ軸
Master axis
Drive
駆動トルクtorque Drive torque
駆動トルク
-Ps +Pm
Constant
一定速
speed 主軸
Spindle
摩擦負荷＜プリロードトルクの場合
Friction load < preload torque 移動方向
Move direction
Spindle
主軸
摩擦負荷＞プリロードトルクの場合移動方向
Move direction when friction load > preload torque Move direction
移動方向
Drive torque スレーブ軸

駆動トルク Slave axis Drive
駆動トルク torque Master
マスタ軸 axis
-Ps +Pm
Decelerate
減速時主軸
Spindle
移動方向
Move direction
[Fig. 5: Pattern Diagram of Torque Change When Preload Is Used]
(7) Regarding the setting of the preload, it is necessary to note the following:
Since the actual torque needs to be the same for the preload, it is necessary to take into consideration
the ratio of the maximum torques of the two axes when setting the preload. Therefore, set the
preload such that the following relationship is established. The subscripts m and s represent the
master axis and slave axis, respectively.
(Preload %)m・(Maximum torque Nm)m＝(Preload %)s・(Maximum torque Nm)s
- 342 -
The signs of the preload values are to be set as described below.

As shown in the block diagram at the beginning of this subsection, the preload torque is always
added to the torque command. Therefore, set the preloads according to the motor rotation directions
of the master and slave axes during spindle rotation, as follows.
When rotation directions are the same: The values set for the master and slave axes have different
signs.
When rotation directions are different: The values set for the master and slave axes have the same
sign.
Setting example)
When you want to set the master axis maximum torque to 100 Nm, slave axis maximum torque
to 80 Nm, and preload to 5 Nm for a machine in which the motor rotation directions of the two
axes during spindle rotation are the same, set the preload values as follows:
Master axis preload
5Nm Î 5% preload Î N4360m = 16384*5/100 = 819
Slave axis preload (Set the − sign because the rotation direction is the same.)
N4360s = - 100 / 80 * 819/16384 * 16384 = -1024 (-6.25%)
(8) If the base speeds of the two axes are different, the slave axis can perform scaling to adjust the
difference. See Fig. 6.
[Fig.6] Torque command
Max. torque command 100%
Post-scaling preload Ps’ = (ωmb/ωsb)*Ps

Set Pm and Ps taking into consideration Slave axis preload Ps% Preload without scaling Ps
the motor maximum torque ratio Master axis preload Pm%
Mmax/Smax.
Ps = (Mmax/Smax)･Pm
Speedω
If the base speeds are different, the
Actual torque
slave axis adjusts the preload value to Master axis
make Tps equal to Tpm. Master axis maximum Slave axis
Ps’ = (ωmb/ωsb)･Ps torque Mmax
Tps’ (=Tpm)= (ωmb/ωsb)･Tps Slave axis maximum
torque Smax
Master axis preload torque Tpm

Slave axis preload torque Tps
ωsb ωmb Speedω
(9) When using the preload, it is necessary to note the following:

When preloads are set, the torque commands for the motors of the two axes are different in the
tandem operation. Therefore, it is necessary to check No. 410 (load meter display) in the diagnosis
screen and ensure that the motors of the two axes are used in a range where they operate at the
continuous rated torque.
Note also that, in this case, even if the total load value of the two axes is the same for both clockwise
and counterclockwise rotation, the total actual torque is different. This is because the torque
command of the motor of each axis is different for clockwise and counterclockwise rotation and the
maximum torque of the motors are different. See the example below.
[Example] Mmax: Master axis maximum torque, Smax: Slave axis maximum torque
TD: Drive torque [%]
Pm: Master axis preload [%], Ps: Slave axis preload [%]
(Master axis torque command) = TDm＋Pm＝Td＋Pm
(Slave axis torque command) = TDm (received integral term)－Ps＝Td－(Mmax/Smax)･Pm
- 343 -
Clockwise rotation Counterclockwise rotation

Smax/Mmax=2/3, Master axis
Torque command Torque command Master axis converted
Pm=10% converted actual
(load) (load) actual torque (%)
torque (%)
Master axis 70 (%) = 60 + 10 70 (%) -45 (%) = -55 + 10 -45 (%)
Slave axis 45 (%) = 60 - 15 30 (%) = 45* (2/3) -70 (%) = -55 - 15 -46.7 (%) = -70* (2/3)
Total value 115 (%) = 70 + 45 100 (%) = 70 + 30 -115 (%) = -45 + (-70) -91.7 (%) = -45 + (-46.7)
(2) Additional information 2: Spindle drive using four or more spindle motors
A function called velocity tandem control is available that drives the spindle with two spindle motors to
gain a large output. If the output from two motors is insufficient, it is necessary to drive a single spindle
with multiple velocity tandems. In this case, the master axis of each velocity tandem is controlled by
"spindle simple synchronous control (or spindle command synchronous control in the case of 30i-B)".
This section contains information necessary to control a machine that drives the spindle with multiple
velocity tandems using spindle simple synchronous control.
When using this function, also refer to Section 11.17, "Spindle Simple Synchronous Control" of
B-63943EN (FS30i-A Connection Manual) and Section 11.17, "Spindle Command Synchronous Control"
of B64483EN (FS30i-B Connection Manual).
NOTE
1 To use this function, the CNC software options "spindle tandem control" and
"spindle simple synchronous control" are required.
2 When the CNC is FS30i –B, these two functions are included in the CNC
software option "spindle synchronous control".
3 To use this function, all the motors to be used need to be of the same
specifications.
4 To use this function, the spindle amplifier needs to be of TYPE B because
inter-spindle amplifier communication is used.
edition.
(1) Usable software

Spindle software
9D90 B (02) FS30i-A / FS31i-A
9DA0 F (06) FS30i-B / FS31i-B
(2) System configuration

The following figure shows an example where the velocity tandem function is applied to a machine
that drives the spindle with four spindle motors using spindle simple synchronous control.
- 344 -
CNC タンデム
Tandem 11
Velocity
速度指令 command (*1)
SP-1 Motor
モータ
sensor Motor
モータ 1
(Master)
(ﾏｽﾀ) センサ
SP-1
積分項
Integral Velocity
速度タンデム tandem
term
＆積分コピー
& integral copy
(*1)
SP-2 Motor
モータ
sensor Motor
モータ 2
(Slave)
（ｽﾚｰﾌﾞ）センサ
(*2)Signal
(*2) 信号 (*3)
branching (*3)主軸
Spindle Spindle
分岐アダ主軸
adapter センサ
sensor
プタ
Tandem 22
タンデム
主軸簡易 SP-3 Motor

モータ
センサ Motor 3
Spindle simple sensor モータ 3
同期制御 (ﾏｽﾀ )
(Master)
synchronous Extended
拡張積分 (*1)
control integral
コピー
copy Velocity tandem
速度タンデム
& integral copy
＆積分コピー
SP-4 Motor
モータ Motor 4
sensor モータ 4
(ｽﾚｰﾌﾞ )
(Slave) センサ
(*1)
Spindle amplifier - to - spindle (*1)

(*1) 適用可能アンプ
Applicable amplifier: :A06B-6154-Hxxx#H590
A06B-6154-Hxxx#H590
スピンドルアンプ間通信
amplifier communication (*2)Signal
(*2) 信号分岐アダプタ : A06B-6111-H405
branching adapter: A06B-6111-H405
(*3)αiBZ
(*3) αiBZ
sensor,
センサ、α iCZ センサ（アナログ）、
αiCZ sensor (analog),
α position coder S
αポジションコーダ S
<1> The spindle is driven by four spindle motors.

<2> The master axes SP-1 and SP-3 of the two tandems are controlled by spindle simple synchronous
control.
<3> In this case, the speed integral term can be copied from SP-1 engaged in spindle simple synchronous
control to SP-3. This is called "extended integral copy".
<4> The slave axes SP-2 and SP-4 of the two tandems receive the velocity command and speed integral
term from the master axes SP-1 and SP-3 of the tandems and use the received values as their own
velocity command and velocity integral term (velocity tandem control).
- 345 -
(3) Block diagram

The following figure shows a control block diagram applicable when this function operates using four
spindle motors.
<1> The velocity command from the CNC are passed to SP1 and SP3. The soft start/stop function limits
the specified acceleration rate to reduce the mechanical shock, and SP1 and SP3 pass the limited
command to SP2 and SP4, respectively. Then, each motor exerts velocity control.
<2> SP2 and SP3 receive the integral term from SP1, and SP4 receives the integral term from SP3. They
add the received integral term to the proportional term to create a torque command.
<3> Each SP adds the set preload value to this torque command to create a final torque command.
Velocity feedback
(CNC) (SP1)
SOCNA=1 － Torque
Velocity command command [%]
soft start/stop ＋ Velocity loop Torque
N4030 limit Motor
P/I ＋ﾓｰﾀ
＋
Velocity Velocity integral
command term (I)
Determination of polarity (N4353#2) SLVA
& SLVB
communication
Velocity ＋＋
command Preload
ESSYC3 ESSYC3 N4360
& SLVA SLVA
SLVA & SLVB
& SLVC & SLVB ＋
Velocity loop ＋ﾄﾙｸ
Torque
Motor
P only limit
ﾘﾐｯﾄﾓｰﾀ
Spindle simple synchronous control
＋
Extended integral copy
Torque
－ command [%]
Velocity feedback
Spindle
Velocity feedback
(SP3)
SOCNC=1
－ Torque
soft start/stop ＋ command [%]
N4030
P only Motor
limit
＋
Determination of ＋
polarity(N4541#6) Velocity Velocity integral
command term (I) Preload
SLVC
N4360
Determination of polarity (N4353#2)
& SLVD
communication
Velocity ＋＋ Preload
command N4360
SLVC
& SLVD
SLVC ＋
& SLVD
Motor
P only limit
＋ Torque
－ command [%]
Velocity feedback
- 346 -
(4) I/O signals (CNC Ù PMC)

(4-1) Input signals (PMC Æ CNC)
30i #7 #6 #5 #4 #3 #2 #1 #0
st
1 SP G073 SLVA
nd
2 SP G077 SLVB
rd
3 SP G207 SLVC
th
4 SP G269 SLVD
SLVx Tandem operation command for each spindle
These signals specify whether to enable or disable tandem operation.
To use velocity tandem, set "1" for all of the four spindles.
NOTE
1 When switching these signals, make sure that the four spindles are
stopped. When the spindles are rotating, a request to switch these
signals cannot be accepted.
2 Switch these signals in the velocity control mode. In a mode other
than the velocity control mode, these signals cannot be accepted.
3 When the four spindles are mechanically disconnected with each
other, do not set these signals to "1".
30i #7 #6 #5 #4 #3 #2 #1 #0
Gn064 ESRSYC
ESRSYC Spindle simple synchronous control signal (when spindle simple synchronous control is
exerted by the first and second spindles)
0 : Makes a request to disable spindle simple synchronous control.
1 : Makes a request to enable spindle simple synchronous control.
When "1" is set in this signal, the spindle simple synchronous control mode is enabled,
and the second spindle operates as the slave axis of the first spindle.
NOTE
This signal is valid when "0" is set in bit 5 (SSY) of parameter No.
3704.
30i #7 #6 #5 #4 #3 #2 #1 #0
Gn264 ESSYC4 ESSYC3 ESSYC2 ESSYC1
ESSYCx Spindle simple synchronous control signal for each individual spindle
0 : Makes a request to disable spindle simple synchronous control.
1 : Makes a request to enable spindle simple synchronous control.
When "1" is set in any of these signals, the spindle corresponding to that signal operates
as the slave axis for spindle simple synchronous control.
NOTE
1 These signals are valid when "1" is set in bit 5 (SSY) of parameter
No. 3704.
2 The master axis with which the slave axis is to be synchronized is
defined by parameter No. 4821.
- 347 -
(4-2) Output signals (CNC Æ PMC)

30i #7 #6 #5 #4 #3 #2 #1 #0
st
1 SP F045 SSTA
nd
2 SP F049 SSTB
rd
3 SP F168 SSTC
th
4 SP F266 SSTD
SSTx Speed zero detection signal for each individual spindle
When switching the tandem operation command SLVx, make sure that "1" is set in the
signals for all the four spindles.
The tandem operation command cannot be accepted when "0" is set in any of these
signals.
30i #7 #6 #5 #4 #3 #2 #1 #0
st
1 SP F046 SLVSA
nd
2 SP F050 SLVSB
rd
3 SP F169 SLVSC
th
4 SP F267 SLVSD
SLVSx Tandem operation state signal for each individual spindle
0 : Disables tandem operation.
1 : Enables tandem operation.
Before specifying spindle simple synchronous control for the spindle amplifier that is to
operate as the slave axis for spindle simple synchronous control, make sure that "1" is set
in the signals for all the four spindles.

To switch spindle simple synchronous control or spindle tandem control, you need to have the velocity
control mode on, the velocity command set to 0, and the speed zero state (SST = 1) set for the spindle. To
reduce the mechanical shock, use also the soft start/stop function (N4030 and G071#4(SOCNA): for the
first spindle) for all the tandem master axes.
<1> Specify 0 (S0) for the velocity mode to stop all the spindles.
<2> Check that the speed zero signal (SST) is set to the speed zero state (1) for all the spindles.
<3> Specify velocity tandem control for all the spindles of all the tandems (SLVx = 1).
<4> Check that all the spindles are set to the tandem mode (SLVSx = 1).
<5> Next, specify spindle simple synchronous control for the slave axis for spindle simple
synchronous control (ESSYC3 = 1).
<6> Check that the parking signal is set to 0, and enter the velocity command to drive the spindles.
<7> When position control is enabled, the phase synchronous error monitor signal SYCAL is output
according to the phase error state. By monitoring this signal, the PMC can perform processing
appropriate for the phase error state.
<8> Specify 0 to stop the spindles.
<9> Check that the speed zero signal (SST) is set to the speed zero state (1) for all the spindles.
<10> Next, cancel the spindle simple synchronous control state (ESSYC3 = 0).
<11> Cancel velocity tandem control for all the spindles of each tandem (SLVx = 0).
<12> Check that the tandem state has been canceled for all the spindles (SLVSx = 0).
- 348 -
Velocity command Specify S0 to Specify S0 to

& speed stop stop
After specifying spindle simple

S0 command synchronous control, enter the S0 command
Speed zero signal speed command.
SSTA
SSTB
SSTC
SSTD
After SST is set to "1" for all After canceling spindle

spindles, set SLVx to on. simple synchronous
Tandem operation command
signal control, set SLVx to 0.
SLVA
SLVB
SLVC
After setting SLVx to 0, wait

Wait until spindles enter the tandem state.
until the tandem state is
Tandem state signal
canceled.
SLVSA
SLVSB
SLVSC
SLVSD
After all spindles enter the tandem state, After all spindles enter the speed zero
specify spindle simple synchronous state (SST=1), turn off spindle simple
Spindle simple synchronous
control. synchronous control.
control command
ESSYC3
T1(msec) T2(msec)
Driven by four spindle motor axes Make sure that T1 and T2 are both 30 msec
or longer, and then perform the processing
of the next stages.
- 349 -
(5) Setting examples of the parameters related to the integral copy

When the spindle is driven by four velocity tandems (eight motors) as shown in the following figure, the
settings related to the velocity integral copy are to be made as indicated by the examples given below.
SP N4398#5,4,3 N4353#2 N4541#6 N4597 Remarks
SP-1 1,1,0 1 0 -1 Spindle simple synchronous control (+ extended
integral copy) master axis
Velocity tandem 1 (+ integral copy) master axis
SP-2 1,1,0 - 0 0 Velocity tandem 1 (+ integral copy) slave axis
SP-3 1,1,0 1 0 1 Spindle simple synchronous control (+ extended
integral copy) slave axis
CNC Tandem
タンデム11
Velocity
速度指令command (*1) Motor
SP-1 モータ Motor 1
(Master) sensor モータ 1
SP-1 Velocity tandem
速度タンデム
Integral
積分項
& integral copy
＆積分コピー
term (*1)
SP-2 Motor
モータ Motor 2
sensor モータ 2
(Slave)
(ｽﾚｰﾌﾞ) センサ
(*2) Signal
(*2)信号分
branching
Tandem
タンデム 22 岐アダプタ
adapter
(*1)
SP-3 Motor
モータ Motor 3
sensor モータ 3
(Master)
Velocity
& integral copy
＆積分コピー
Extended integral copy
主拡 (*1)
軸 SP-4 Motor
モータ Motor 4
張 sensor モータ 4
((Slave)
ｽﾚｰﾌﾞ) センサ
簡積
易分 Signal branching
同コ信号分岐回路 Spindle sensor
circuit 主軸センサ Spindle
期（ﾊｲﾃﾞﾝﾊｲﾝ (Heidenhain) 主軸
ピ (Heidenhain (ﾊｲﾃﾞﾝﾊｲﾝ)
制 IBV606）
ー Tandem IBV606）
御タンデム33
(*1)
SP-5 Motor
モータ Motor 5
sensor モータ 5
(Master)
Velocity
& integral copy
＆積分コピー
(*1)
SP-6 Motor
モータ Motor 6
(Slave) sensor モータ 6
(*2) Signal
(*2)信号分
branching
Tandem
adapter
(*1)
SP-7 Motor
モータ Motor 7
sensor モータ 7
(Master)
速度タンデム
Velocity tandem
＆積分コピー
& integral copy
(*1)
SP-8 Motor
モータ Motor 8
((Slave) sensor モータ 8
(*1)
(*1)適用可能アンプ : A06B-6154-Hxxx#H590
Applicable amplifier: A06B-6154-Hxxx#H590
Spindle amplifier - to - spindle
amplifier communication (*2) Signal branching: A06B-6111-H405
(*2)信号分岐アダプタ adapter: A06B-6111-H405
- 350 -
(6) Spindle orientation

When the spindle is driven by four velocity tandems (eight motors) as shown in the following figure, the
settings related to the velocity integral copy are to be made as indicated by the examples given below.
Spindle orientation can be used in spindle tandem control four, six, or eight spindle motors. The
following options are required:
・ Spindle orientation
・ Spindle orientation extension
The valid spindle orientation command signal (ORCM) and spindle orientation stop position change
command signal (INDX) are the signals of the master axis for which the parameter No. 4597 is set to -1.
The signals of the slave axis are ignored. The method of setting the stop position for position coder
method spindle orientation can be selected using bit 0 (ORT) of parameter No. 3729. In bit 0 (ORT) of
parameter No. 3729, set the same value for all the spindles used for spindle tandem control. Set the stop
position as follows.
・ For orientation with a fixed stop position (bit 0 (ORT) of parameter No. 3729 = 0)
Set the stop position in parameter Nos. 4031 and 4077. Set the same value for all the spindles used
for spindle tandem control.
・ For orientation with an externally set stop position (bit 0 (ORT) of parameter No. 3729 = 1)
Set the stop position using the spindle orientation external stop position command signals (SH00 to
SH11). Set the stop position in the signals of the master axis for which the parameter No. 4597 is set
to -1. The signals of the slave axis are ignored.
NOTE
Arrange that a one-rotation signal is detected regardless of the spindle speed.
If the spindle sensor is a Heidenhain-made 1Vpp encoder, set the parameters as
follows:
Bits 3, 2, 1, and 0 of parameter No.4002 = 1, 1, 1, and 0
Bit 2 of parameter No. 4394 = 1
5.12 Tandem Disturbance Elimination Control (OPTIONAL

FUNCTION)
5.12.1 Overview
This function suppresses the vibration caused by the interference between the master and slave axes when
the axes use position tandem (spindle simple synchronous) or velocity tandem control.
The function remains in effect only when the PMC signal indicating whether the two axes are
mechanically connected is set to 1 (connected). Note that the function requires the inter-spindle amplifier
communication function.
- 351 -
NOTE
1 To use this function, the CNC software option "tandem disturbance elimination
control" is required.
3 This function can be used together with velocity tandem control.
4 This function cannot be used together with the spindle EGB.
5 This function cannot be used for twin drives (two-winding motors and induction
machines only).
6 This function can be used between a pair of a master and a slave axis
connected via inter-spindle amplifier communication.
7 Since inter-spindle amplifier communication is used, prepare SP TYPE B and
inter-spindle amplifier communication cables.
8 This function needs to be disabled when the master and slave axes are not
mechanically connected. In this case, turn off the machine connection
notification signal (tandem command signal) SLV for both axes.

Spindle software
9D90 B (02) FS30i-A / FS31i-A
9DA0 F (06) FS30i-B / FS31i-B

A system is assumed to have a configuration like the one shown below in which the machine is driven by
two spindles and the connection between the two axes is relatively stiff. In such a configuration, the
power interference between the motors may cause vibration. Tandem disturbance elimination control is
used for a machine like this.
- 352 -
Spindle motor
(master)
αiM/αiMZ sensor
CNC JA7B JYA2
1st spindle
(master)
SP TYPE B
JA7A
Chuck
JX4
JX4
Chuck
JA7B JYA2
2nd spindle
(slave)
SP TYPE B
αiM/αiMZ sensor
Spindle motor
(slave)
NOTE
1 When the master and slave are mechanically disconnected with each other,
cancel the tandem operation mode.
2 When the motor to be used is a synchronous spindle motor of the BiS series, the
power line between the amplifier and the motor needs to be connected via the
sub module SM (SSM).
3 To perform pole detection when the motor to be used is a synchronous spindle
motor of the BiS series, release the mechanical connection to free the
synchronous spindle motor. In this case, cancel the tandem operation mode as
well.

30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G073 MPOFA SLVA
2nd- G077 MPOFB SLVB
SLVA Mechanical connection notification signal (for the first spindle)

SLVB Mechanical connection notification signal (for the second spindle)
These signals notify the amplifiers of the two axes whether the axes are mechanically connected.
The two axes are mechanically:
0 : Disconnected (tandem disturbance elimination control is disabled)
1 : Connected (tandem disturbance elimination control is enabled)
- 353 -
NOTE
While these signals are operation command signals for the tandem
function, they are also used for tandem disturbance elimination
control.
(1) Before setting SLVx to 1 for the two spindles, set "0" in the position command or
velocity command for both spindles to stop them and check that SSTx is set to 1
(speed zero) as well as that the two spindles are mechanically connected.
(2) Before setting SLVx to 0 for the two spindles, set "0" in the position command or
velocity command for both spindles to stop them and check that SSTx is set to 1
(speed zero). Then, disconnect the machine.
NOTE
1 When the two spindles are mechanically disconnected with each
other, do not set these signals to 1.
2 When using a synchronous spindle motor, specify the commands
with pole detection completed for both axes.
3 Before changing the spindle connection state notification signal
SLVx, check that "0" is set in the position command or velocity
command (position control/velocity control mode) and SSTx is set
to 1 (speed zero state) for both spindles.
4 To return the axes to the origin in position tandem (spindle simple
synchronous control), turn off these signals (SLVx = 0) and return
each axis to the origin individually.
5 To use the parking signal in position tandem (spindle simple
synchronous control), turn off these signals and disable tandem
disturbance elimination control.

NOTE
1 If any abnormality, such as an excessive master-slave speed
difference, is detected when tandem disturbance elimination control
is enabled, turn off the power to the motors of both the master and
slave axes by using these signals in order to minimize mechanical
damage.
2 When a synchronous spindle motor is used, the motors decelerate
to a stop using the SSM, rather than coast to a stop, even if these
signals are input.

30i #7 #6 #5 #4 #3 #2 #1 #0
1st- F045 SSTA
2nd- F049 SSTB

- 354 -
0: The spindle motor is rotating.

1: The spindle motor is in the speed zero (stopped) state.
Check that these signals are set to "1" for both the master and slave axes, before the
switching the mechanical connection notification signal SLVx.
If these signals are set to "0", a request to change the switching the mechanical
connection notification signal SLVx cannot be accepted.
30i #7 #6 #5 #4 #3 #2 #1 #0
1st- F046 SLVSA
2nd- F050 SLVSB
SLVSA Mechanical connection answer signal (for the first spindle)

SLVSB Mechanical connection answer signal (for the second spindle)
Tandem disturbance elimination control is:
0 : Disabled (received a notification that the two axes are mechanically disconnected)
1 : Enabled (received a notification that the two axes are mechanically connected)
Check that these signals are set to "1" for both the master and slave axes, and then specify
the same command for the spindle amplifiers of the two axes.
NOTE
While these signals are operation command signals for the tandem
function, they are also used for tandem disturbance elimination
control.
30i #7 #6 #5 #4 #3 #2 #1 #0
1st- F047 MSOVRA
2nd- F051 MSOVRB

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 (No. 4347). The signal for the slave
spindle amplifier need not be monitored. (At all times, 0 is output.)
CAUTION
1 If a motor feedback signal disconnection alarm (spindle alarm 73)
is issued, the status of this signal is undefined.
performed.
Set "0" in principle to enable alarm detection.
NOTE
- 355 -

The sequence is as follows.
<1> Stop both axes.

<2> After connecting the two axes mechanically, check that SSTx is set 1 (speed zero state) for both
axes.
<3> Input the spindle connection notification signal SLVx to the two axes, with the value of 1 set in
the signal. When the answer signal SLVSx is set 1 for both axes, tandem disturbance
elimination control is enabled.
<4> When tandem disturbance elimination control is enabled, specify the same command for both
axes.
<5> To disable the function, check that SSTx is set 1 (speed zero state) for both axes and input the
spindle connection notification signal SLV to the two axes, with the value of 0 set in the signal.
<6> After checking that the answer signal SLVSx is set 0 for both axes, disconnect the spindle
mechanically.
- 356 -
Master axis command

Movement (or velocity) command
Master axis speed
<1>
<2>
Master axis
SST
Slave axis command
Slave axis speed Movement (or velocity)

command
<1>
<2>
Slave axis
SST
<3> After checking SST is set to 1 for both axes,
Master axis specify SLV = 1 for both axes.
SLV
<5> After checking SST is set to 1 for both
Slave axis axes, specify SLV = 0 for both axes.
SLV
Master axis
SLVS
<4> Specify after checking SLVS is set to 1 for both axes.
Slave axis
SLVS
The tandem disturbance elimination control is enabled.
- 357 -
5.12.6 Parameters
Details of the parameters related to tandem disturbance elimination control are given below.
30i #7 #6 #5 #4 #3 #2 #1 #0
4015 SPDTDM
SPDTDM Whether to use the spindle tandem control option (Since this parameter is automatically
set, it cannot be set manually; it is only allowed to reference the parameter.)
NOTE
To use tandem disturbance elimination control for velocity tandem
control, the spindle tandem control option is required (SPDTDM
needs to be set to 1). If SPDTDM is set to 0, check the software
option.
30i #7 #6 #5 #4 #3 #2 #1 #0
4403 TDEOPT
TDEOPT Whether to use the tandem disturbance elimination control option (Since this parameter is
automatically set, it cannot be set manually; it is only allowed to reference the parameter.)
NOTE
When this bit is set to "0", tandem disturbance elimination control is
disabled. If the bit is set to "0", check the software option.
30i #7 #6 #5 #4 #3 #2 #1 #0
4540 TANDMP
TANDMP Tandem disturbance elimination control

0 : Tandem disturbance elimination control is disabled.
1 : Tandem disturbance elimination control is enabled.
This parameter is valid when bit 0 (TDEOPT) of parameter No. 4403 is set to 1. To use
tandem disturbance elimination control, set "1" in this bit for both the master and slave
axes.
30i #7 #6 #5 #4 #3 #2 #1 #0
4398 WSVCP VTAN WNDTDM
WNDTDM Whether to use the twin drive function (two-winding motor drive and induction machine
only)
By combining these bit parameters as shown on the next page, tandem disturbance
elimination control can be used.
The settings (1) and (2) are intended for speed tandem operation, and the settings (3) and
(4) are intended for position tandem (spindle simple synchronous control) operation.
Setting TANDMP TDEOPT WSVCP VTAN WNDTDM SPDTDM Enabled function

Velocity tandem control
(1) 1 1 0 1 0 1 + Tandem disturbance
elimination control
- 358 -
Setting TANDMP TDEOPT WSVCP VTAN WNDTDM SPDTDM Enabled function

Velocity tandem control
+ Velocity integral copy
(2) 1 1 1 1 0 1 function
+ Tandem disturbance
elimination control
Tandem disturbance
(3) 1 1 0 0 0 0
elimination control
Velocity integral copy
function
(4) 1 1 1 0 0 0
+ Tandem disturbance
elimination control
Note) WNDTDM is a parameter used for two-winding motors (induction machines only).
This function cannot be used for two-winding motors. Be sure to set WNDTDM to
0.
30i #7 #6 #5 #4 #3 #2 #1 #0
4402 TRQTDM

NOTE
*1 While this bit assumes the NC for FS30i-B, set "0" for 30i-A as well.
*2 When this bit is set to "1", tandem disturbance elimination control
does not work normally. Be sure to set "0".
30i #7 #6 #5 #4 #3 #2 #1 #0
4352 MASTER SLAVE

1 : Inter-spindle amplifier communication slave axis (Set 1 for the master axis.)
1 : Inter-spindle amplifier communication master axis (Set 1 for the master axis.)
NOTE
1 For inter-spindle amplifier communication, set
(MASTER,SLAVE)=1,0 for the master axis and
(MASTER,SLAVE)=0,1 for the slave axis.
2 Setting (MASTER,SLAVE)=1,1 causes the state error "38".
30i #7 #6 #5 #4 #3 #2 #1 #0
4353 RVSVC2
RVSVC2 Relationship of master/slave motor rotation directions when the spindles are connected
0 : The master motor and slave motor rotate in the same direction (when viewed from
the motor shaft).
1 : The master motor and slave motor rotate in the opposite directions (when viewed
from the motor shaft).
This parameter determines the polarity of the actual motor speed that one spindle receives
from the other.
- 359 -
NOTE
1 Set this parameter on the master side. The value set on the master
side (the spindle for which bit 7 of parameter No. 4352 is set to 1)
is transferred to the slave side via inter-spindle amplifier
communication.
2 If this parameter is not set properly, tandem disturbance elimination
control does not work normally.
30i
4601 Tandem disturbance elimination control Proportional gain Kp
Unit of data :
While this parameter may be used for a machine generating much friction, it is generally
not used.
30i
4602 Tandem disturbance elimination control Integral gain Ki
Unit of data :
This parameter compensates the spring element of the machine. When stiffness is high,
the value becomes large (torque/inertia).
The larger the ratio, the smaller the value.
30i
4603 Tandem disturbance elimination control Phase compensation α
Unit of data :
Valid data range : 0, 51 to 512(0.1<α＜1)
This parameter is used with coefficient Τ below to compensate for the delay of
adjustment.
When the parameter is set to 0, the value is internally handled as 512 (α = 1).
When α is 1, phase compensation is not done.
30i
4604 Tandem disturbance elimination control Phase compensationＴ

This parameter is used with coefficient α above to compensate for the delay of
adjustment. If the interference frequency is 100 Hz or higher, try setting α to 102 and Τ to
3.
30i
4605 Tandem disturbance elimination control Incomplete integral time constant ⎮
Unit of data :
- 360 -

Setting a large value for integral gain Ki may cause low frequency vibration (10 Hz or
lower).
In this case, set a smaller value for the incomplete integral time constant. See the
following table for reference. When the parameter is set to 0, the value is internally
handled as 32682.
Time constant (sec) Parameter value

0.1 32682
0.05 32596
0.02 32341
- 361 -

Details of the parameters related to tandem disturbance elimination control are given below.
The block diagram for tandem disturbance elimination control is as shown below.
<1> Calculate the deviation from the local velocity and the other-end velocity.
<2> Calculate the proportional integral for the calculated deviation.
<3> Perform phase compensation for the result of the proportional integral calculation and add the
amount of torque compensation to the torque command for each axis.
Velocity Torque command

＋ loop Motor
＋
－＋
Tandem
disturbance
elimination ＋
[Master axis] control －
[Slave axis] Tandem －

disturbance
elimination ＋
control
－＋ Motor
＋ Velocity ＋
loop Torque command
Internal block diagram for tandem

disturbance elimination control
Local velocity
Tandem disturbance
elimination control
Kp
Tandem ＋
disturbance 1+TS
elimination control 1+αTS + ＋
output Ki －
S
Other-end velocity
- 362 -
5.12.8 Adjustment
• Check the torque command (or motor speed) of the two axes by using the servo guide.
• If the waveforms of the two axes have opposite phases (in the case of forward connection) or the
same phase (in the case of backward connection), it is likely that interference (vibration) is occurring
due to the spring element between the axes.
• Enable tandem disturbance elimination control, and adjust integral gain Ki for tandem disturbance
elimination control.
• Increment the value of integral gain Ki gradually starting from "0" (set the same value for both axes),
and check how the interference (vibration) changes. There should be an optimum value of Ki.
Setting too large a value may increase the interference (vibration).
• Since changing the velocity loop gain changes the frequency of the vibration, change Ki to make the
vibration weaker.
• If the vibration frequency exceeds 100 Hz, the effect of tandem disturbance elimination control
becomes small. This may be improved by setting the phase compensation coefficients, α and Τ, of
the two axes (set the same value for both axes).
(Adjusted waveform example)

Vibration frequency observed when the master axis is vibrated using the disturbance input function and
torque command and velocity of the slave axis
- 363 -
Slave axis TCMD&SPEED Ki = 0 (tandem disturbance elimination control

disabled) when master axis is vibrated
Slave axis torque command
Master axis vibration frequency Interference of approx. 120 Hz
Slave axis TCMD&SPEED Ki = 150 (for both axes) when master axis is vibrated
Slightly improved by setting Ki
Slave axis TCMD&SPEED Ki=150 a=102 T = 3 (for both axes) when master axis is vibrated
Improved by positive phase

compensation
5.13 TORQUE TANDEM CONTROL FUNCTION (OPTIONAL

FUNCTION)
5.13.1 Overview
Spindle tandem control is a function that drives the spindle with two motors to provide a large output that
cannot be obtained with one motor. The following two types are available:
(1) Velocity tandem control
(2) Torque tandem control (induction spindle motor only)
While speed control is disabled on the slave side in torque tandem control, it is enabled in velocity
tandem control. For this reason, velocity tandem control offers greater slave axis stability. Therefore,
when employing spindle tandem control, select velocity tandem control under normal circumstances.
Note that, in cases where you do not want the slave axis to exert speed control (you want both axes to
have the same torque although they widely differ in speed), as in wheel lathing, you need to adopt torque
tandem control.
- 364 -
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 When the NC is 30i-B, the spindle tandem control function is included in the
spindle synchronous control option.
4 When this function is used, the spindle amplifiers and spindle motors of the
master and slave must be of the same model.
edition.
6 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
7 No limitation is imposed on master and slave axis assignment.
In the descriptions below, the following assignment is used for convenience:

Spindle software
9D50 M (13) FS16i / FS18i, FS15i
9D70 C (03) FS30i / FS31i
9D80 A (01) FS16i / FS18i , FS15i , FS30i / FS31i
9D90 A (01) FS16i / FS18i , FS15i , FS30i / FS31i
9DA0 A (01) FS30i / FS31i / FS32i –B
NOTE
To use the αiCZ sensor (serial), the 9D90 series G (07) edition or later or the
9DA0 series I (09) edition or later is required.
This function cannot be used with the 9D50, 9D70, or 9D80 series.
- 365 -

NOTE
1 For connection details of each cable, refer to “FANUC SERVO AMPLIFIER αi
series DESCRIPTIONS (B-65282EN)”.
2 The common power supply (PS) emergency stop signal (connector CX4) needs
to be input for each common power supply (PS).
(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)
αiM/αiMZ sensor
CNC JA7B JYA2
1st spindle
(master)
SP TYPE B
JA7A
Chuck
JX4
JX4
JA7B JYA2 Chuck
2nd spindle
(slave)
SP TYPE B
αiM/αiMZ 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.
- 366 -
(2) Sample configuration 2: System where the table axis is driven by two
motors
Spindle motor
(master)
CNC JA7B JYA2 αiM sensor
1st spindle
(master)
SP Type B Gear
JA7A JYA4
JX4
αiBZ sensor
Spindle
Inter-spindle
amplifier connection
JX4
JA7B JYA2 αiM sensor
2nd spindle Gear

(slave)
SP Type B
Spindle motor
(slave)

NOTE
1 A command for the spindles engaged in tandem operation is issued to the
master spindle amplifier.
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 spindle amplifier. Those signals that are required to drive
the slave spindle amplifier are transferred from the master spindle amplifier by
inter-spindle amplifier communication.
3 During tandem operation, use a signal output from the master spindle amplifier
for sequence determination (such as speed arrival determination and alarm
detection). (No signal output from the slave spindle amplifier is needed.)

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.
- 367 -
During tandem operation (SLVx = 1), the signals need not be input to the slave spindle
amplifier.
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)
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.

These signals turn off the power to the motor.
During tandem operation (SLVx = 1), these signals need not be input to the slave spindle
amplifier.
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.

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

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.
- 368 -
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 spindle amplifier.
15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

1st- F231 F047 F047 MSOVRA
2nd- F247 F051 F051 MSOVRB

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 spindle amplifier need not be monitored. (At all times, 0 is
output.)
CAUTION
1 If a motor feedback signal disconnection alarm (spindle alarm 73)
is issued, the status of this signal is undefined.
performed.
Set the parameter to "0" when not required, to enable alarm
detection.
NOTE

NOTE
Examples of sequences are given below assuming the following:
First spindle: Master spindle amplifier
Second spindle: Slave spindle amplifier
- 369 -
(Example 1) Speed control mode

signal
SSTA&SSTB
Tandem operation
command
SLVA&SLVB
Tandem operation 300ms or more

state
SLVSA&SLVSB
Spindle speed Sxxxx (≠0)

command
S code
S0
Master spindle
amplifier spindle
rotation command
SFRA&SRVA
Motor speed
- 370 -
(Example 2) Spindle orientation

signal
SSTA&SSTB
Tandem operation
command
SLVA&SLVB
300ms or more
Tandem operation
state
SLVSA&SLVSB
Sxxxx (≠0)
Spindle speed
command
S code S0
Master spindle
amplifier spindle
rotation command
SFRA&SRVA
Master spindle
command ORCMA
Master spindle
completion signal
ORARA
Motor speed
- 371 -
(Example 3) Rigid tapping

signal
SSTA&SSTB
Tandem operation
command 300ms or
SLVA&SLVB more
Tandem operation
state
SLVSA&SLVSB
Master spindle
amplifier spindle
rotation command
SFRA&SRV
Rigid tapping
command
M29 Sxxxx
G84 Zyyyy . . .
Motor speed
- 372 -
(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 spindle
amplifier spindle
rotation command
SFRA&SRVA
mode command
CON
mode state
FSCSL
command
G00 C0.
G01 Cxxxx . . .
Motor speed
5.13.6 Parameters
(1) Cautions
For the master spindle amplifier and slave spindle amplifier, set the same parameters except for the
following specific parameters:
Parameter No.
15i 16i 30i
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 Depending on the
3353#2 4353#2 4353#2 motor rotation directions in torque spindle 0
tandem operation configuration
- 373 -
Parameter No.
15i 16i 30i
Inter-spindle amplifier
3352#7,#6 4352#7,#6 4352#7,#6 1, 0 0, 1
communication setting
Machine by
machine
3360 4360 4360 Preload value 0
(adjustment
value)

パラメータ番号
内容
15i 16i 30i
Motor power turn-off method when spindle alarm 24 (serial data transfer
3009#2 4009#2 4009#2
error) 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
－－ 4398#4 Whether to use the velocity tandem function
－－ 4398#5 Whether to use the velocity integrator copy function
－－ 4402#3 Whether to use the torque tandem function
Whether to detect a speed polarity error (spindle alarm d0) in torque tandem
3398#6 4398#6 4398#6
operation
3352#6 4352#6 4352#6 Inter-spindle amplifier communication slave axis setting
3352#7 4352#7 4352#7 Inter-spindle amplifier communication master axis setting
3347 4347 4347 Master-slave speed difference state signal output setting
3360 4360 4360 Preload value

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
3009 4009 4009 ALSP
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-SP
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.
- 374 -
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

1 : Inter-spindle amplifier communication slave axis (Set this parameter to 1 for the

1 : Inter-spindle amplifier communication master axis (Set this parameter to 1 for the
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 spindle amplifier motor speed only is used.
1 : For speed control, the average speed of the master spindle amplifier and slave
spindle amplifier 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 spindle amplifier side.
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
(spindle alarm d0) is issued in torque tandem operation.
15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3398 4398 4398 A130DN WSVCP VTAN WNDTDM
WNDTDM Whether to use the twin drive function

Set this parameter to 0,0,0.
- 375 -
NOTE
If "1" is set in these bits, the torque tandem function does not work
normally. Be sure to set "0,0,0".
A130DN Whether to detect a speed polarity error (spindle alarm d0) in torque tandem operation
0 : Detects the error.
1 : Does not detect the error.
30i #7 #6 #5 #4 #3 #2 #1 #0
4402 TRQTDM

0 : Disables the torque tandem function.
1 : Enables the torque tandem function.
NOTE
This bit is valid when the NC is FS30i-B. Set it to "0" when the NC
is FS30i-A.
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)
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%

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 spindle amplifier side.

(1) Spindle alarm
Alarm No. Description Measure
An inter-spindle amplifier communication error
occurred.
An alarm was issued on the destination spindle Correct the cause of the alarm on the destination
80
amplifier of inter-SPM communication. spindle amplifier.
- 376 -
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) Spindle amplifier status error

A tandem operation command was input when Input a tandem operation command after canceling
21
spindle synchronous control is enabled. spindle synchronous control.
Spindle synchronous control was specified Specify spindle synchronous control after canceling
22
when tandem operation is enabled. torque tandem operation.
A tandem operation command is input even if Torque tandem control requires the CNC software
23
the option is not specified. option. Check the option.
- Parameters related to inter-spindle amplifier
communication are not set correctly.
- Functions that cannot be used together with
the torque tandem function are set.
5.14 MAGNETIC SENSOR METHOD SPINDLE ORIENTATION

(OPTIONAL FUNCTION)
5.14.1 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.

Spindle software
9D50 F (06) FS16i / FS18i / FS21i , FS0i , FS15i
9D70 A (01) FS30i / FS31i / FS32i
9DA0 A (01) FS30i / FS31i / FS32i -B

The magnetic sensor method spindle orientation function can be used with the following system
configuration:
- 377 -
Spindle motor with a

built-in αiM (or αiMZ)
Spindle
JYA2
Magnet (directly
attached)
SP
TYPE B magnetic
sensor Magnetic sensor
signal Amplifier head
JYA4 conversion
JYA4 adaptor 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)”.

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.

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

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

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.
5.14.6 Parameters
Parameter No.
Description
15i 16i 30i
3015 #0 4015 #0 4015 #0
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)
- 378 -
Parameter No.
Description
15i 16i 30i
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
3056 to 4056 to 4056 to
(These parameters are selected with the input signals CTH1A and
3059 4059 4059
CTH2A.)
Position gain on orientation
3060 to 4060 to 4060 to
(These parameters are selected with the input signals CTH1A and
3063 4063 4063
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
3078 4078 4078 MS signal constant
3079 4079 4079 MS signal gain adjustment
3084 4084 4084 Motor voltage on spindle orientation
(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 1. If the
arrangement is opposite to that shown in the figure below, set this bit to 0.
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

DIRCT1, DIRCT2 : Rotation direction at spindle orientation

- 379 -
DIRCT2 DIRCT1 Rotation direction

0 0 By rotation direction immediately before (CCW for the first-time
spindle orientation after the power is switched on)
0 1 By rotation direction immediately before (CW for the 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

Unit of data : 1min-1 (*10min-1 when bit 2 (SPDUNT) of parameter No. 4006 is set to 1)
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 :
This data is used to set the velocity loop proportional gain on spindle 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 :
15i 16i 30i

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)
This data is used to set a gear ratio between the spindle and spindle motor.
- 380 -
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


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.
15i 16i 30i

3064 4064 4064 Ratio of position gain change upon completion of spindle orientation
Unit of data : 1%
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

The orientation completion signal (ORARA) is set to 1 if the spindle position is within
the set data range when orientation is stopped.
signal (ORARA) is set to 0.
15i 16i 30i

3076 4076 4076 Spindle orientation speed limit ratio
Unit of data : 1%
This data is used to set an orientation speed limit ratio.
Orientation speed Position gain Speed limit ratio
= 60 × × gear ratio × [min-1]
(motor speed) 100 100
- 381 -
15i 16i 30i

Unit of data : ±0.01deg

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.
15i 16i 30i

3078 4078 4078 MS signal constant
Unit of data :
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 :
This data is used to adjust the amplitude of the MS signal. Usually, use the values
indicated in the table below as standard values.
Magnet
Specification MS signal
Name Length
drawing number Type gain
[mm]
Not specified.
A57L-0001-0037 0
Standard
Standard (TYPE II) 50
Magnetic
A57L-0001-0037/N 0
sensor N
Magnetic Compact type (TYPE III)
A57L-0001-0037/P 50 -20
sensor P
Magnetic Cylinder type with diameter of
A57L-0001-0037/Q 31 70
sensor Q φ40 (TYPE IV)
A57L-0001-0037/R 37 50
sensor R φ50 (TYPEV)
A57L-0001-0037/S 43 70
sensor S φ60 (TYPEVI)
A57L-0001-0037/T 49 40
sensor T φ70 (TYPEVII)
- 382 -
15i 16i 30i

Unit of data : 1%
This data is used to specify the motor voltage for spindle orientation.
Depending on the motor model, set 30 usually.
5.15 SPINDLE BACKLASH ACCELERATION FUNCTION

(OPTIONAL FUNCTION)
5.15.1 Overview
The spindle backlash acceleration function improves a figure error caused by the delayed reversal along
the Cs contouring control axis.
NOTE
1 To use this function, the CNC software option (Cs contouring control) is required.
2 This function is valid for advanced preview feed-forward in the Cs contouring
control mode.
3 This function is unavailable for the sub-spindle for spindle switching.
4 This function cannot be used together with the spindle EGB function.

Spindle software
9D50 O (15) FS16i / FS18i / FS21i , FS0i , FS15i
9D70 F (06) FS30i / FS31i / FS32i
9D80 A (01) FS16i / FS18i / FS21i , FS0i , FS15i , FS30i / FS31i / FS32i.
9DA0 A (01) FS30i / FS31i / FS32i -B

The following shows a block diagram of spindle backlash acceleration.
α: Advanced preview FF
coefficient (P4344)
Velocity loop
αs (PI controller)
PG: Position gain Kp: Proportional gain

Move （P406x） + (P404x)
command + + +
PG Kp Torque
- command
- +
Ki: Integral gain
(P405x)
Position Velocity +
feedback feedback Ki 1/s
+
Backlash acceleration
compensation calculation
Backlash acceleration ON/OFF
Backlash acceleration: Compensation (P4455) (P4402#0)
Backlash acceleration: Stop timing (P4456)
- 383 -
5.15.4 Parameters
Parameter No.
Description
15i 16i 30i
3402#0 4402#0 4402#0 Whether to enable the backlash acceleration function
Setting of the feed-forward coefficient when the backlash acceleration
3402#1 4402#1 4402#1
function is enabled.
3455 4455 4455 Backlash acceleration: Compensation
3456 4456 4456 Backlash acceleration: Stop timing
(2) Details of parameters

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
3402 4402 4402 MDLINF BKAFNC
BKAFNC Whether to enable the backlash acceleration function

0 : Disables the backlash acceleration function.
1 : Enables the backlash acceleration function.
MDLINF Sets the advanced preview feed-forward coefficient when the backlash acceleration
Set “0” when the advanced preview feed-forward coefficient is less than 100% (parameter
No. 4344 is not 10000) or
“1” when the coefficient is 100% (parameter No. 4344 is 10000).
15i 16i 30i

3455 4455 4455 Backlash acceleration: Compensation
Unit of data :
This parameter sets the backlash acceleration compensation.
15i 16i 30i

3456 4456 4456 Backlash acceleration: Stop timing
Unit of data : 0.001deg

This parameter sets the timing of the termination of backlash acceleration.
5.15.5 Example of Adjustment

(1) CNC program
Prepare a program which draws an arc (eccentric arc) with polar coordinate interpolation as shown below:
- 384 -
Imaginary C-axis
15mm 20mm
C-axis move area Center of circle (35, 0)

Radius of circle 20mm
X-axis
Origin of workpiece Start point (15, 0)

coordinate system 1
G90 ← Absolute
G54 ← Select workpiece coordinate system 1.
G00 X15. C0. ← Move to the start point.

G5.1 Q1 ← Turn AI contouring control on.
G12.1 ← Turn polar coordinate interpolation on.
G04 X5. ← Dwell. Press the “origin” button (see Item (3)).
G02 I20. J0 ← Draw an arc.
G13.1 ← Turn polar coordinate interpolation off.
G5.1 Q0 ← Turn AI contouring control off.

M99 ← End
(2) Preparation for data measurement using the SERVO GUIDE

Open the graph window of the SERVO GUIDE and set channels as follows:
- 385 -
Set the distance between the

start point and origin.
15 2 + 0 2 = 15（mm ）
Set the angle at the start

point.
-1
tan (0/15) = 0 (deg)
(3) Data measurement and display using the SERVO GUIDE

Execute the program described above and press the button while the spindle stops at the start point to
perform origin operation.
Then, press the button before the spindle moves to start measurement.
After the completion of data measurement, change the graph window display mode as follows to display
an arc.
- 386 -
XTYT mode
NORMAL mode
Change the mode using the menu.
XTYT mode
POLAR mode
Change the mode using the menu.
CIRCLE mode
POLAR mode
Projection in quadrants
caused by delayed reversal
along the Cs axis
(4) Adjustment
Follow the adjustment steps below while observing the arc figure in the CIRCLE mode in the graph
window:
(a) Set the initial values listed below for compensation (parameter No. 4455) and stop timing (parameter
No. 4456):
Backlash acceleration compensation (parameter No. 4455): 5
Backlash acceleration stop timing (parameter No. 4456): 100
(b) Increase the compensation value (parameter No. 4455) to minimize the peak value of the projection
in each quadrant. If the waveform cuts into the circle, decrease the setting.
(c) Increase the stop timing to minimize the peak value of the projection in each quadrant.
If the waveform cuts into the circle, decrease the setting.
- 387 -
After adjustment
Before adjustment
5.16 HIGH-SPEED SPINDLE ORIENTATION (OPTIONAL

FUNCTION)
5.16.1 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).

Spindle software
9D70 A (01) FS30i / FS31i / FS32i
9DA0 A (01) FS30i / FS31i / FS32i -B
- 388 -

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.

JYA2 Spindle
αi position coder
SP
TYPE A
JYA3

JYA2 Spindle
α position coder S
SP
TYPE B
JYA4
- 389 -
Spindle+
Built-in motor
JYA2
SP
TYPE A

SP
TYPE A
Spindle+
JYA3 circuit
Thermistor
αiMZ sensor
JYA2 Spindle
SP
TYPE A
- 390 -
(analog) is used
JYA2 Spindle
SP
TYPE B
JYA4 αiBZ sensor or αiCZ sensor

JYA2
SP
TYPE A
Detection
Spindle
ciruit
JYA3

(1) Address list of input signals (PMC → CNC)
15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0


- 391 -
(2) Details of input signals (PMC → CNC)

(a) Spindle orientation command (ORCMA)
(b) Clutch/gear signals (CTH1A and CTH2A)
(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)
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

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

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.
5.16.5 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
- 392 -
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
<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.
(2) Starting spindle orientation when the spindle is rotating at a speed

between the orientation speed lower limit and the orientation speed upper
limit
- 393 -

command)

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).
(ORARA) is output.
(3) Starting spindle orientation when the spindle is rotating at or slower than
the orientation speed lower limit
- 394 -

command)

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
(ORARA) is output.

Parameter No.
Description
15i 16i 30i
Whether the spindle orientation function is available (to be set to "1")
3015 #0 4015 #0 4015 #0
3018 #6 4018 #6 4018 #6 Type of position coder method orientation
#3 #3 #3 (Set 1 in bit 6 and 0 in bit 3.)
Whether the stop position external setting-type spindle orientation
5609#2 3702#3,#2 3729#0 function is available
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
3003#3,#2 4003#3,#2 4003#3,#2
to "0, 1")
Short-cut function when spindle orientation from stopped state is
3017#7 4017#7 4017#7
specified
Whether the speed command correction function for high-speed spindle
3018#5 4018#5 4018#5
orientation is available
- 395 -
Parameter No.
Description
15i 16i 30i
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
3056 to 3059 4056 to 4059 4056 to 4059 (These parameters are selected with the input signals CTH1A and
CTH2A.)
Position gain on orientation
CTH2A.)
3064 4064 4064 Percentage limit to an acceleration during deceleration
3075 4075 4075 Orientation completion signal detection level
3084 4084 4084 Motor voltage on orientation
Acceleration during motor deceleration
CTH2A.)
3326 4326 4326 Acceleration limitation start speed during deceleration
3328 4328 4328 Command multiplier for orientation
NOTE
1 See Section 1.3, "PARAMETERS RELATED TO DETECTORS" in Part I, for
2 See Section 4.1, "VELOCITY LOOP GAIN ADJUSTMENT" in Part I, for velocity
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).

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
3018 4018 4018 ORTYP1 HSVCM ORTYP1
HSVCM: Velocity command compensation function in high-speed spindle orientation is:

0: Disabled.
1: Enabled.
Normally, set 1.
ORTYP1、ORTYP0 Type of position coder method spindle orientation
ORTYP1 ORTYP0 Type of orientation

1 0 High-speed spindle orientation
Specify "1,0" (high-speed spindle orientation).

- 396 -
15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

DIRCT1、DIRCT2 Rotation direction at spindle orientation
DIRCT2 DIRCT1 Rotation direction

0 0 By rotation direction immediately before (CCW for the first-time spindle orientation
after the power is switched on)
0 1 By rotation direction immediately before (CW for the 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
15i 16i 30i


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

- 397 -
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 :
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 :
15i 16i 30i

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)
(33 to 30000 if bit 1 of parameter No. 4006 (GRUNIT) = 1)
NOTE
The range of gear ratios supported by this function is:
1:30 to 30:1
15i 16i 30i


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
- 398 -
Unit of data : 1%
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

3075 4075 4075 Orientation completion signal detection level (effective area for in-position check)

ORARA = 1 is satisfied if the position error is within the setting.
15i 16i 30i


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

Unit of data : 1%
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

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
× × (0.8 to 0.9)
Acceleration during deceleration = J 2π
where
τ(Nm) : Motor maximum torque at spindle orientation speed upper limit (parameter
No. 4038)
- 399 -
J(kgm2) : Motor inertia + load inertia
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

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

Unit of data :
Set a command multiplier for the spindle orientation function with an externally set
incremental command.
When 0 is set in this parameter, 1 is assumed to have been specified.
5.16.8 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:
- 400 -
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.
(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).

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.

Initialize the parameters related to high-speed spindle orientation as listed below.

4003#0 Selecting a spindle orientation type 0
4003#3,#2 Spindle rotation direction at orientation Select a rotation direction.
4006#1 Unit of gear ratio setting
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
- 401 -

4056 to 4059 Gear ratio
4060 to 4063 Position gain on orientation 3000
4064 Percentage limit to an acceleration during deceleration 100
4075 Orientation completion signal detection level
4077 Orientation stop position shift value Specify a stop position.
4084 Motor voltage on orientation 100
4320 to 4323 Acceleration during motor deceleration Tune according to actual measurements.
4326,4330 Acceleration limitation start speed during deceleration 0
4328 Command multiplier for orientation
NOTE
1 Spindle 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)
- 402 -
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.
(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)
- 403 -
Example 2 of deceleration time constant adjustment (bad case)
Enlarged
N.G.
(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
- 404 -
(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.
(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.
- 405 -
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)
OK. NG.
(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.
- 406 -
5.17 MAGNETIC FLUX BOOST FUNCTION
5.17.1 Overview
An induction motor generates a magnetic flux by causing an excitation current to flow. Normally, when
no load is applied by the speed mode, the excitation current is kept below the rated level to reduce heat
generation. In this case, the magnetic flux is also reduced to below the rated level. To restore the magnetic
flux to its rated value takes a certain amount of time. Before changing to a mode in which torque
responsiveness is required (rigid tapping, spindle positioning, or Cs contour control mode), the time to
restore the magnetic flux to its rated value is necessary No.3099 for 15i or No.4099 for 16i and 30i;
typically 300 to 400 ms).
The magnetic flux boost function reduces the time it takes to restore the magnetic flux to its rated value
when a changed is made from the speed control mode to rigid tapping (spindle positioning or Cs contour
control mode).
1
[Example: Rigid tapping] Forward/reverse signal (SFR/SRV)
1
* Time reduction by magnetic
Rigid tapping mode
flux boost function
Magnetic flux
ON
Position loop
Movement command
Spindle speed
When the magnetic flux boost function is enabled

When the magnetic flux boost function is disabled

Spindle software
9D80 K (11) FS16i / FS18i / FS21i , FS0i , FS15i , FS30i / FS31i / FS32i
9DA0 A (01) FS30i / FS31i / FS32i -B

Parameter No.
Description
15i 16i 30i
3353 #0 4353 #6 4353 #0 Whether to use the magnetic flux boost function
3124 4124 4124 Magnetic flux boost completion level/magnetic flux boost coefficient
- 407 -

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
3353 4353 4353 FBTCSC
FBTCSC： Whether to use the magnetic flux boost function

0： Does not use the magnetic flux boost function.
1： Use the magnetic flux boost function.
15i 16i 30i

3124 4124 4124 Magnetic flux boost completion level/magnetic flux boost coefficient
Set the parameters for using the magnetic flux boost function.
For information about the values to be set, see Subsection 5.15.7, "Adjustment
Procedure".
15i 16i 30i

Unit of data : 1ms

Set the time it takes before motor excitation becomes stable when changing to rigid
tapping or Cs contour control.
NOTE
Even when you are setting this for using the magnetic flux boost
function, specify an appropriate value (typically, 300 to 400 (msec)).
- 408 -

1 Set parameter No. 4124 (without speed range switching or for high-speed winding) and parameter
No. 4155 (for low-speed winding), based on the table below. If your motor model is not indicated in
the table, use the following equations to calculate the values to be set:
No.4124 = 24320 + MIN ⎛⎜ 255, (No.4111 / 100)2 + 1 × 0.9 × 100 ⎞⎟
⎝ ⎠
No.4155 = 24320 + MIN ⎜⎛ 255, (No.4147 / 100) + 1 × 0.9 × 100 ⎟⎞ (No need to set if speed range switching
2
⎝ ⎠
is not involved)
2 If the vibration of the spindle during magnetic flux boost bothers you, try reducing the values of
parameter Nos. 4124 and No.4155 in step of 10 (the lower limit is 24420).
●Parameter Table of Magnetic Flux Boost Coefficient and Magnetic Flux Boost
Completion Level by Motor Model
a. SPINDLE MOTOR αiI (200V)
Magnetic flux boost coefficient
/magnetic flux boost completion level
Motor model Applicable amplifier
No.4124 No.4155
(High-speed winding) (Low-speed winding)
αiI 0.5/10000 αiSP2.2 24570 0
αiI 1/10000 αiSP2.2 24448 0
αiI 1.5/10000 αiSP5.5 24535 0
αiI 2/10000 αiSP5.5 24501 0
αiI 3/10000 αiSP5.5 24521 0
αiI 6/10000 αiSP11 24570 0
αiI 8/8000 αiSP11 24497 0
αiI 12/7000 αiSP15 24499 0
αiI 15/7000 αiSP22 24556 0
αiI 18/7000 αiSP22 24575 0
αiI 22/7000 αiSP26 24564 0
αiI 30/6000 αiSP45 24575 0
αiI 40/6000 αiSP45 24575 0
αiI 50/4500 αiSP55 24575 0
αiI 1.5/15000 αiSP15 24505 0
αiI 2/15000 αiSP22 24501 0
αiI 3/12000 αiSP11 24513 0
αiI 6/12000 αiSP11 24464 24570
αiI 8/10000 αiSP11 24493 24497
αiI 12/10000 αiSP15 24499 24499
αiI 15/10000 αiSP22 24515 24556
αiI 18/10000 αiSP22 24570 24575
αiI 22/10000 αiSP26 24477 24531
- 409 -
b. SPINDLE MOTOR αiIP (200V)

No.4124 No.4155
αiIP 12/6000 αiSP11 24575 24575
αiIP 12/8000 αiSP11 24575 24575
αiIP 15/6000 αiSP15 24575 24575
αiIP 15/8000 αiSP15 24575 24575
αiIP 18/6000 αiSP15 24541 24575
αiIP 18/8000 αiSP15 24541 24575
αiIP 22/6000 αiSP22 24575 24575
αiIP 22/8000 αiSP22 24575 24575
αiIP 30/6000 αiSP22 24575 24575
αiIP 40/6000 αiSP26 24575 24575
αiIP 50/6000 αiSP26 24575 24575
αiIP 60/4500 αiSP30 24575 24575
c. SPINDLE MOTOR αiIT (200V)

No.4124 No.4155
αiIT 1.5/15000 αiSP15 24505 0
αiIT 2/15000 αiSP22 24501 0
αiIT 3/12000 αiSP11 24513 0
αiIT 6/12000 αiSP15 24509 24575
αiIT 8/12000 αiSP15 24447 24491
αiIT 8/15000 αiSP26 24450 24514
αiIT 15/10000 αiSP22 24515 24556
αiIT 15/12000 αiSP30 24566 24575
αiIT 22/10000 αiSP26 24477 24531
- 410 -
d. SPINDLE MOTOR αiI (400V)

No.4124 No.4155
αiI 0.5/10000HV αiSP5.5HV 24558 0
αiI 1/10000HV αiSP5.5HV 24449 0
αiI 1.5/10000HV αiSP5.5HV 24537 0
αiI 2/10000HV αiSP5.5HV 24575 0
αiI 3/10000HV αiSP5.5HV 24551 0
αiI 6/10000HV αiSP11HV 24575 0
αiI 8/8000HV αiSP11HV 24544 0
αiI 12/7000HV αiSP15HV 24562 0
αiI 15/7000HV αiSP30HV 24575 0
αiI 22/7000HV αiSP30HV 24539 0
αiI 30/6000HV αiSP45HV 24575 0
αiI 40/6000HV αiSP45HV 24564 0
αiI 60/4500HV αiSP75HV 24575 0
αiI 100/4000HV αiSP75HV 24533 24553
e. SPINDLE MOTOR αiIP (400V)

No.4124 No.4155
αiIP 15/6000HV αiSP15HV 24575 24575
αiIP 40/6000HV αiSP30HV 24575 24575
αiIP 50/6000HV αiSP30HV 24541 24575
f. SPINDLE MOTOR αiIT (400V)

No.4124 No.4155
αiIT 1.5/15000HV αiSP15HV 24548 0
αiIT 3/12000HV αiSP11HV 24513 0
αiIT 6/12000HV αiSP15HV 24513 24575
αiIT 8/12000HV αiSP15HV 24447 24510
αiIT 8/15000HV αiSP15HV 24494 24575
αiIT15/10000HV αiSP30HV 24544 24575
αiIT15/12000HV αiSP30HV 24575 24575
αiIT22/10000HV αiSP30HV 24489 24575
- 411 -
g. BUILT-IN SPINDLE MOTOR BiI (Standard type)

No.4124 No.4155
BiI 50S/30000 αiSP2.2 24575 0
BiI 50M/25000 αiSP2.2 24551 0
BiI 50L/25000 αiSP5.5 24575 0
BiI 80S/20000 αiSP5.5 24506 24569
BiI 80M/15000 αiSP2.2 24448 0
BiI 80L/8000 αiSP5.5 24535 0
BiI 100S/12500 αiSP5.5 24551 0
BiI 112SS/20000 αiSP11 24575 24575
BiI 112S/15000 αiSP22 24487 24575
BiI 112M/15000 αiSP11 24568 0
BiI 112L/15000 αiSP30 24575 24575
BiI 112LL/15000 αiSP30 24575 24575
BiI 132M/14000 αiSP30 24575 24575
BiI 132L/14000 αiSP30 24575 24575
BiI 160S/13000 αiSP22 24575 24575
BiI 160M/13000 αiSP30 24575 24575
BiI 160L/13000 αiSP22 24575 24575
BiI 160LL/13000 αiSP30 24575 24575
BiI 170S/6000 αiSP22 24533 24575
BiI 170M/6000 αiSP26 24575 24575
BiI 180M/6000 αiSP30 24575 24575
BiI 180L/6000 αiSP30 24575 24575
BiI 180LL/8000 αiSP30 24575 24575
BiI 200S/6000 αiSP37 24575 24575
BiI 200M/6000 αiSP30 24575 24575
BiI 200L/6000 αiSP45 24575 24575
BiI 250S/6000 αiSP45 24514 24575
BiI 250M/3000 αiSP55 24575 24575
- 412 -
h. BUILT-IN SPINDLE MOTOR BiI (High-speed type)

No.4124 No.4155
BiI 40S/70000 αiSP2.2 24467 0
BiI 40M/70000 αiSP11 24575 0
BiI 60SS/50000 αiSP11 24575 0
BiI 60S/50000 αiSP22 24575 24575
BiI 80S/40000 αiSP45 24575 0
BiI 100S/20000 αiSP22 24575 24575
BiI 100S/30000 αiSP30 24569 24575
BiI 100L/30000 αiSP30 24575 24575
BiI 112S/20000 αiSP30 24575 24575
BiI 112M/20000 αiSP30 24499 24575
BiI 112L/20000 αiSP30 24522 24575
BiI 112L/25000 αiSP75HV 24575 24575
BiI 160M/20000 αiSP30 24575 24575
BiI 160L/20000 αiSP30 24575 24575
BiI 160LL/20000 αiSP75HV 24575 24575
BiI 200S/10000 αiSP75HV 24575 24575
- 413 -
II. FANUC AC SPINDLE MOTOR βi series
B-65280EN/08 FANUC AC SPINDLE MOTOR βi series 1.START-UP
1 START-UP
For this subsection, see Section 1.1, “START-UP PROCEDURE”, in Part I.
NOTE
The CNC applicable to the βi SVSP is the 0i /0i Mate-MODEL B, 0i /0i
Mate-MODEL C or 0i /0i Mate-MODEL D.

For this subsection, see Subsection 1.2.1, “Parameters Related to Spindle Serial Output”, in Part I.

(1) Parameter list
Parameter No. (0i) Description
4019#7 Function for automatically initializing spindle parameters
4133 Spindle motor model code


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.

4019#7 1
NOTE
<3> Turn off then turn on again the power to the CNC. The spindle parameter data set with the model
code is automatically initialized.
- 417 -
1.START-UP FANUC AC SPINDLE MOTOR βi series B-65280EN/08
<4> According to the detector configuration, set the detector-related parameters.
<5> In parameter No. 4090 (overload detection level), set the standard value of the βi series spindle
motor.

4090 95

For this subsection, see Subsection 1.2.4, “Diagnosis (Diagnosis Screen)”, in Part I.
1.2.4 Alarm
For this subsection, see Subsection 1.2.5, “Alarm”, in Part I.

The following detector configurations can be used with the βi SVSP:
Motor sensor Spindle sensor
αiM sensor None
αiM sensor αi position coder
αiMZ sensor None
αiM 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 SVSP are limited.
2 Only a position coder or external one-rotation signal can be used as the spindle
sensor for the SVSP. (The spindle sensor refers to the detector connected to
connector JYA3.)

For this subsection, see Subsection 1.3.1, “List of Parameters for Detectors”, in Part I.

For this subsection, see Subsection 1.3.2, “Details of Parameters for Detectors”, in Part I.

This subsection presents the spindle detector configurations usable with the βi SVSP and describes the
procedure for setting parameters in these detector configurations.
With the βi SVSP, 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.
off once.
- 418 -

αiM sensor
JYA2 Spindle
SVSP
(TYPE A,D)
Parameter (0i) Settings Description

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

(or αiMZ sensor)
JYA2 Spindle
αi position coder
SVSP
(TYPE A,D)
JYA3
Directly connected or connected with a
gear or timing belt at a ratio of 1:1

4000 #0 Depends on the configuration. Rotation directions of the spindle and motor
4001 #4 Depends on the configuration. Spindle sensor mounting direction
4002 #3,#2,#1,#0 0,0,1,0 Uses the αi position coder as the spindle sensor.
4003 #7,#6,#5,#4 0,0,0,0 Sets the number of spindle sensor gear teeth.
4056 to 4059 Depends on the configuration. Gear ratio between the spindle and motor
- 419 -
1.START-UP FANUC AC SPINDLE MOTOR βi series B-65280EN/08
(3) When the αiMZ sensor is used

JYA2 Spindle motor with built-in αiMZ
sensor
SVSP Spindle
(TYPE A,D)

Spindle motor with built-in αiMZ
sensor
JYA2 Spindle
SVSP
(TYPE A,D)


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 αiMZ or αiBZ sensor as the motor sensor.
4056 to 4059 100 or 1000 Gear ratio between the spindle and motor 1 : 1
(4) When the separate type αiBZ sensor is used

JYA2 Spindle
βiSVSP(6164)
JYA4 αiBZ sensor

4002 #3,2,1,0 0,0,1,1 Uses the αiBZ sensor as the spindle sensor.
- 420 -

4056~4059 Depends on the configuration. Gear ratio between the spindle and motor

(or αiMZ sensor)
Spindle
JYA2
SVSP
(TYPE A,D) External one-rotation
signal (proximity switch)
Gear or timing belt
JYA3

4004 #2 1 Uses the external one-rotation signal.
4004 #3 Depends on the detector. Sets the external one-rotation signal type.
Arbitrary gear ratio between the motor sensor and
4171 to 4174 Depends on the configuration.
spindle
- 421 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR βi series B-65280EN/08


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.

Subsection 1.3.3, “Typical Detector Configurations”, in Part II.

For this subsection, see Subsection 2.1.4, “List of I/O Signals (CNC↔PMC)”, in Part I.

For this subsection, see Subsection 2.1.5, “Related Parameters”, in Part I.

For this subsection, see Subsection 2.1.6, “Details of Related Parameters”, in Part I.
For this subsection, see Subsection 2.1.7, “Troubleshooting”, in Part I.

(OPTIMUM ORIENTATION) (OPTIONAL FUNCTION)

2.2.2 Overview
- 422 -
B-65280EN/08 FANUC AC SPINDLE MOTOR βi series 2.EXPLANATION OF OPERATION MODES

Orientation
For this subsection, see Subsection 2.2.3, “Transition from Conventional Method Orientation to Optimum
Orientation”, in Part I.
2.2.4 Feature
For this subsection, see Subsection 2.2.4, “Feature”, in Part I.
2.2.5 Block Diagram

For this subsection, see Subsection 2.2.5, “Block Diagram”, in Part I.

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

(or αiMZ sensor)
JYA2 Spindle
αi position coder
SVSP
(TYPE A,D)
JYA3
(2) When the αiMZ is used

sensor
SVSP Spindle
(TYPE A,D)
- 423 -

sensor
JYA2 Spindle
SVSP
(TYPE A,D)

JYA2 Spindle
βiSVSP(6164)
JYA4 αiBZ sensor

(or αiMZ sensor)
Spindle
JYA2
SVSP External one-rotation

(TYPE A,D) signal (proximity switch)
Gear or timing belt
JYA3
- 424 -
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

For this subsection, see Subsection 2.2.7, “Stop Position Specification Method”, in Part I.

For this subsection, see Subsection 2.2.8, “I/O Signals (CNC↔PMC)”, in Part I.

For this subsection, see Subsection 2.2.9, “Examples of Sequences”, in Part I.

For this subsection, see Subsection 2.2.10, “Explanation of Operation”, in Part I.



For this subsection, see Subsection 2.2.13, “Adjustment Procedure”, in Part I.

For this subsection, see Subsection 2.2.14, “Adjusting the Orientation Stop Position Shift Parameter”, in
Part I.

For this subsection, see Subsection 2.2.15, “Supplementary Descriptions”, in Part I.
- 425 -

2.3.2 Overview


(or αiMZ sensor)
JYA2 Spindle
αi position coder
SVSP
(TYPE A,D)
JYA3
(2) When the spindle motor with built-in αiM sensor (or αiMZ sensor) is used
JYA2 αiM sensor (or αiMZ sensor)
SVSP Spindle
(TYPE A,D)
- 426 -

(or αiMZ sensor)
JYA2 Spindle
SVSP
(TYPE A,D)
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)
following:
3 When using the detection arbitrary gear ratio function (DMR function) with a
motor containing a built-in αiMZ 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 a motor with a built-in αiMZ
sensor is used and the spindle is directly connected to the motor or the spindle is
connected to the motor at a ratio of 1:1.
- 427 -

JYA2 Spindle
βiSVSP(6164)
JYA4 αiBZ sensor

Spindle
JYA2
SVSP
(TYPE A,D)
Gear or timing belt

JYA3
NOTE
following:
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.

- 428 -
2.3.5 Sequence
For this subsection, see Subsection 2.3.5, “Sequence”, in Part I.



For this subsection, see Subsection 2.3.8, “Parameter Setting Procedure”, in Part I.


2.3.11 Alarm

2.4.2 Overview
- 429 -

(1) When a motor with a built-in αiMZ sensor is used
sensor
JYA2 Spindle
SVSP
(TYPE A,D)


4010 #2,#1,#0 0,0,1 Uses the αiMZ sensor as the motor sensor.
4056 to 4059 100 or 1000 The spindle-to-motor gear ratio is 1:1.
(2) When an αi position coder is used

(or αiMZ sensor)
JYA2 Spindle
αi position coder
SVSP
(TYPE A,D)
JYA3

4002 #3,#2,#1,#0 0,0,1,0 αi position coder
4003 #7,#6,#5,#1 0,0,0,0 αi position coder
Depends on the Gear ratio between the spindle and motor
4056 to 4059
configuration.
Depends on the Sets the gear ratio between the spindle and motor when the
4171 to 4174
configuration. position coder feedback interpolation function is used.
The setting of 1 is Sets the position coder feedback interpolation function.
4398#0
recommended.
- 430 -

JYA2 Spindle
βiSVSP(6164)
JYA4 αiBZ sensor
Parameter Settings Description

4000 #0 Depends on the
Rotation directions of the spindle and motor
configuration.
Spindle sensor mounting direction
configuration.
4056~4059 Depends on the
configuration.



Control Mode
For this subsection, see Subsection 2.4.6, “Velocity Loop Gains Override Function on Cs Contouring
Control Mode”, in Part I.


- 431 -
The βi series spindle motor, however, enables Cs contouring control in a system where an αi 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 αi 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 αi 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 αi
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).
0i
4171 (HIGH) CTH1A=0
4172 (HIGH) CTH1A=0
4173 (LOW) CTH1A=1
4174 (LOW) CTH1A=1
Unit of data :
(αiM sensor) feedback signal by a gear ratio to produce a spindle position feedback
signal.
No. 4171 (No. 4173 when CTH1A = 1) = P
No. 4172 (No. 4173 when CTH1A = 1) = Q
- 432 -
NOTE
Note that if an improper value is set in this parameter, the position
coder feedback interpolation function does not function normally.

2.4.10 Alarm

FUNCTION)

2.5.2 Overview

below.
NOTE
Spindle synchronous control between spindles each having a different detector
configuration is possible.
- 433 -

1t spindle
JA7B Spindle
SVSP
(TYPE A,D)
JYA3
JA7A
2nd spindle
(or αiMZ sensor)
JA7B Spindle
SVSP
(TYPE A,D)
JYA3

- 434 -
1st spindle
CNC
JA7B Spindle
JYA2
SVSP
(TYPE A,D)
JA7A Directly connected or connected with a gear or timing

2nd spindle
JA7B Spindle
JYA2
SVSP
(TYPE A,D)

- 435 -

1st spindle
(or αiMZ sensor)
CNC
JA7B Spindle
JYA2
βiSVSP
(6164)
JYA4
JA7A αiBZ sensor or αiCZ sensor (analog)
2nd spindle
(or αiMZ sensor)
JA7B Spindle
JYA2
βiSVSP
(6164)
JYA4
- 436 -

1st spindle
(or αiMZ sensor)
CNC
Spindle
JA7B
JYA2
SVSP
(TYPE A,D)
switch)
JA7A
2nd spindle
(or αiMZ sensor)
Spindle
JA7B
JYA2
SVSP
(TYPE A,D)
switch)
NOTE
following:
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.

- 437 -





For this subsection, see Subsection 2.5.9, “Number of Error Pulses in Spindle Synchronous Control”, in
Part I.

Control
For this subsection, see Subsection 2.5.10, “Specifying a Shift Amount for Spindle Phase Synchronous
Control”, in Part I.

2.5.12 Alarm
2.6.1 Overview

2.6.3 Parameters
For this subsection, see Subsection 2.6.3, “Parameters”, in Part I.
- 438 -
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%
This parameter sets the condition for detecting a short-time overload alarm (spindle 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 (spindle alarm 29) is issued.

- 439 -
3.I/O SIGNALS (CNC↔PMC) FANUC AC SPINDLE MOTOR βi series B-65280EN/08

This chapter explains the functions of the signals directly input from the PMC to SVSP via the CNC and
the signals directly output from the SVSP to PMC. For other spindle-related I/O signals, refer to the
manual of the relevant CNC.
3.1 INPUT SIGNALS (PMC→CNC→SVSP)

This section explains the functions of the signals directly input from the PMC to SVSP via the CNC.
For other spindle-related input signals, refer to the manual of the relevant CNC.

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

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 SVSP 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
3.2 OUTPUT SIGNALS (SVSP→CNC→PMC)

This section explains the functions of the signals directly output from the SVSP to PMC via the CNC. For
other spindle-related output signals, refer to the manual of the relevant CNC.
- 440 -
B-65280EN/08 FANUC AC SPINDLE MOTOR βi series 3.I/O SIGNALS (CNC↔PMC)

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

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

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.
- 441 -
4.ADJUSTMENT FANUC AC SPINDLE MOTOR βi series B-65280EN/07
4 ADJUSTMENT
4.1.1 Overview
4.1.2 Parameters


For this subsection, see Subsection 4.1.4, “Additional Information (Position Gain Adjustment)”, in Part I.
- 442 -
B-65280EN/08 FANUC AC SPINDLE MOTOR βi series 5.FUNCTION DESCRIPTIONS
FUNCTION)
5.1.1 Overview

configuration.

(or αiMZ sensor)
JYA2 Spindle
αi position coder
SVSP
(TYPE A,D)
JYA3
sensor
SVSP
(TYPE A,D) Spindle
- 443 -
5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR βi series B-65280EN/08

sensor
JYA2 Spindle
SVSP
(TYPE A,D)

JYA2 Spindle
βiSVSP(6164)
JYA4 αiBZ sensor

Rotation directions of the spindle and motor
configuration.
Spindle sensor mounting direction
configuration.
configuration.
- 444 -

Spindle
JYA2
SVSP
(TYPE A,D) External one-rotation
Gear or timing belt
JYA3
NOTE
direction.

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

For this subsection, see Item 5.3.4 (2), “Details of input signals (PMC→CNC)”, in Part I.
- 445 -

0i #7 #6 #5 #4 #3 #2 #1 #0
1st- F045 ORARA
2nd- F049 ORARB
1st- F047 INCSTA

2nd- F051 INCSTB

For this subsection, see Item 5.3.4 (4), “Details of output signals (CNC→PMC)”, in Part I.


Parameter No.
Description
0i
4015 #0
Whether the stop position external setting-type spindle orientation function is available (to
3702#3,#2 be set to “1”)
(Bit 2: 1st spindle. Bit 3: 2nd spindle)
4328 Command multiplier for incremental command external setting data
NOTE


FUNCTION)
5.2.1 Overview

Explained below is a system configuration in which the conventional method spindle orientation function
is usable.
- 446 -

(or αiMZ sensor)
JYA2 Spindle
αi position coder
SVSP
(TYPE A,D)
JYA3
sensor
SVSP Spindle
(TYPE A,D)

sensor
JYA2 Spindle
SVSP
(TYPE A,D)
- 447 -

JYA2 Spindle
βiSVSP(6164)
JYA4 αiBZ sensor


Spindle motor with built-in αi M
sensor(or αi MZ sensor)
Spindle
JYA2
SVSP signal (proximity switch)
(TYPE A,D) Gear or timing belt
JYA3
- 448 -
NOTE
1 To detect the one-rotation signal securely, fix the direction in which the spindle
rotates during spindle orientation (bits 3 and 2 of parameter No. 4003) to one
direction.
2 Specify the type of external one-rotation signal (proximity switch) (bits 3 and 2 of
parameter No. 4004).
specification of the external one-rotation signal (proximity switch) you use.
5 Specify the denominator/numerator parameters of an arbitrary gear ratio between
the motor sensor and spindle (Nos. 4171 to 4174).

For this subsection, see Section 2.2, “POSITION CODER METHOD SPINDLE ORIENTATION”, and
Section 5.3, “INCREMENTAL COMMAND TYPE SPINDLE ORIENTATION” , in Part I.
5.2.4 Sequence

For this subsection, see Subsection 5.4.6, “List of Related Parameters”, in Part I.


Part I.

For this subsection, see Subsection 5.4.9, “Calculating the Position Gain for Orientation”, in Part I.

For this subsection, see Subsection 5.4.10, “Calculating the Orientation Time”, in Part I.
- 449 -
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 SVSP and the FANUC Series 0i
/ 0i Mate-MODEL B or FANUC Series 0i / 0i Mate-MODEL C CNC.

Spindle software
9D50 E(05) edition or later
CNC software
D4A1 A(01) edition or later For the FANUC Series 0i-MB
D501 A(01) edition or later For the FANUC Series 0i Mate-MB
D6A1 A(01) edition or later For the FANUC Series 0i-TB
D701 A(01) edition or later For the FANUC Series 0i Mate-TB
D4B1 A(01) edition or later For the FANUC Series 0i-MC
D511 A(01) edition or later For the FANUC Series 0i Mate-MC
D6B1 A(01) edition or later For the FANUC Series 0i-TC
D711 A(01) edition or later For the FANUC Series 0i Mate-TC
5.3.3 Block Diagram

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.
(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.

For this subsection, see Item 5.6.4 (3), “Details of parameters related to serial spindles”, in Part I.
- 450 -

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.

5.4.1 Overview

For this subsection, see Subsection 5.7.2, “Series and Editions of Applicable Spindle Software”, in Part I.

0i #7 #6 #5 #4 #3 #2 #1 #0
F090 ABTSP2 ABTSP1

(ABTSP1 and AQSP1)
(ABTSP2 and AQSP2)
Refer to an applicable CNC Manual for details.
- 451 -

Parameter No.
Description
0i
Whether the unexpected disturbance torque detection function is available (The CNC
4015 #1
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


For this subsection, see Subsection 5.7.6, “Parameter Tuning Procedure”, in Part I.

FUNCTION)
5.5.1 Overview

The high-speed spindle orientation function can be used in the following system configuration.
NOTE
This function cannot be used in an orientation system based on an external
one-rotation signal in which a proximity switch is used.

(or αiMZ sensor)
JYA2 Spindle
αi position coder
SVSP
(TYPE A,D)
JYA3
- 452 -
(2) When the αiMZ sensor is used

JYA2
αiMZ sensor
SVSP
Spindle
(TYPE A,D)

αiMZ sensor
JYA2 Spindle
SVSP
(TYPE A,D)


JYA2 Spindle
βiSVSP(6164)
JYA4 αiBZ sensor

- 453 -

Section 5.3, “INCREMENTAL COMMAND TYPE SPINDLE ORIENTATION”, in Part I.
5.5.4 Sequence



For this subsection, see Subsection 5.14.8, “Spindle Data Used in Tuning”, in Part I.

For this subsection, see Subsection 5.14.9, “Tuning Procedure”, in Part I.
- 454 -
III. FANUC AC SPINDLE MOTOR αCi
series
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 1.START-UP
1 START-UP
- CNC model
- Spindle motor
- Common power supply (PS)
- Spindle amplifier
- Detector system
B. Check all connections. (See DESCRIPTIONS)
D. Check the CNC parameter setting for using the αCi series
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.

- 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.


(1) Parameter list
Parameter No.
Description
15i 16i 30i

- 457 -
1.START-UP FANUC AC SPINDLE MOTOR αCi series B-65280EN/08
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

1.2.4 Alarm

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.)

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
- 458 -
Parameter No.
Description
15i 16i 30i
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
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
3016 #7 4016 #7 4016 #7
each 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.)

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
(spindle alarm 02), motor binding alarm (spindle alarm 31), or gear
ratio parameter setting error alarm (spindle 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
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
- 459 -
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 αi position coder
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.
15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3006 4006 4006 GRUNIT

0 : 1/100 unit
1 : 1/1000 unit
rotation
spindle rotation
- 460 -
Parameter No.
Description
15i 16i 30i
3056~3059 4056~4059 4056~4059 Spindle-to-motor gear ratio data
NOTE
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”, spindle 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.
When this bit is set to “0”, spindle 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 (spindle alarm 46).
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


in the parameter.
- 461 -
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 (spindle alarm 02), motor binding alarm (spindle alarm 31),
or gear ratio parameter setting error alarm (spindle alarm 35) may
be detected.
2 When an improper value is set in these parameters, an unexpected
proper gear ratio.
15i 16i 30i


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”.

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
are being set.
off once.

Temperature sensor
αCi
spindle
motor
JYA2 Spindle
SPMC
Connection via a gear or belt (connection ratio: m:n)
- 462 -

Does not exercise position control. (without position
4002 #3,#2,#1,#0 0,0,0,0
coder)
4005#0 0 Exercises velocity control with an estimated velocity only.
4056 to 4059 Depends on the configuration Gear ratio between the spindle and motor

Temperature sensor
αCi
spindle
motor
JYA2 Spindle
αi position coder
SPMC
JYA3

4002 #3,#2,#1,#0 0,0,1,0 Uses the αi position coder as the spindle sensor.
4003 #7,#6,#5,#4 0,0,0,0 Sets the number of spindle sensor gear teeth.
Uses the speed calculated from the position coder
4005#0 1
signal to perform speed control.
- 463 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αCi series B-65280EN/08


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”.

Subsection 1.3.3, “Typical Detector Configurations”, in Part III.

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.
- 464 -
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 2.EXPLANATION OF OPERATION MODES

(c) For Series 15i
(d) For Series 0i
Part I.
(1) Input signals(PMC→CNC)

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

NOTE
(b) Series 30i

#7 #6 #5 #4 #3 #2 #1 #0
(*1) (*1) (*1) (*1)

NOTE
- 465 -
(c) Series 15i

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


(d) Common to CNCs

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G226 G071 G071 *ESPA

2nd- G234 G075 G075 *ESPB
1st- G229 G072 G072 OVRA

2nd- G237 G076 G076 OVRB

(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)
F037 R12O R11O R10O R09O
NOTE
- 466 -
(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)
F037 R12O R11O R10O R09O
NOTE
(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 F045 SRSRDY
1st- F341 SRRDYA

2nd- F342 SRRDYB
- 467 -
(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

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
⎯ 3744 3744 Maximum spindle speed for gear 4 (T series only)
⎯ 3751 3751
series only)
⎯ 3752 3752
series only)
⎯ 3772 3772 Maximum allowable spindle speed
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
5807#0 ⎯ ⎯
usually.)
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
5848 ⎯ 3722
per revolution, threading, etc.)
5850 ⎯ ⎯ Spindle number to be selected at power-on/reset time
5820#4 ⎯ ⎯ Sets the method of spindle speed calculation.
Whether to output the load detection signal (LDT1) during
3009#4 4009#4 4009#4
- 468 -
Parameter No.
Description
15i 16i 30i
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.)
3082 4082 4082 Sets an acceleration/deceleration time.
3083 4083 4083 Motor voltage on the velocity control mode
NOTE
TO DETECTORS”, in Part III.
“VELOCITY LOOP GAIN ADJUSTMENT”, in Part III.

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

1 : 0 to 120%
15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

LDTOUT Whether to output the load detection signal (LDT1A) during acceleration/deceleration
exceeded.

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

- 469 -
(No. 4000 to No. 4175) for the αCi series spindle corresponding to the model code are
set to “0”.
NOTE
15i 16i 30i


WARNING
15i 16i 30i

Unit of data :
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 :
- 470 -
15i 16i 30i


Example :
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 (spindle alarm 12) can be issued.
2 When using a position coder, be sure to set this parameter. If this
detected.
3 When an improper value is set in this parameter, an unexpected
proper gear ratio.
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

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
- 471 -
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 speed 14.01 23.55 35.01 47.75 70.03 95.49 117.77
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.
15i 16i 30i

Unit of data : 10ms

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
15i 16i 30i

Unit of data : 1sec

- 472 -
NOTE
15i 16i 30i

3083 4083 4083 Motor voltage setting on velocity control mode
Unit of data : 1%
This parameter is used to set a motor voltage on velocity control mode. Usually, this
parameter need not be adjusted. Use the standard setting.
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

(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 common power supply (PS) and amplifier

(b) Detector-related parameter data (Refer to Section 1.3, “PARAMETERS RELATED TO
DETECTORS”, in Part III)

Refer to Subsection 2.1.5, “Related Parameters”, in Part III.

(a) Input signals for spindle control (PMC→CNC)
- 473 -
15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

1st- G226 G071 G071 *ESPA

2nd- G234 G075 G075 *ESPB

(a) Motor power line connection
(b) Connection of the position coder signal cable (shielding, grounding)

(b) Detector-related parameter data (Refer to Section 1.3, “PARAMETERS RELATED TO
DETECTORS”, in Part III)



For Series 15i

For Series 0i
(a) Connection of the position coder signal cable (shielding, grounding)

The velocity loop gain may be too large. Adjust the following parameters:
- 474 -

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

(a) The velocity loop gain may be too large. Adjust the following parameters:
3040 4040 4040 Velocity proportional gain(HIGH)
3041 4041 4041 Velocity proportional gain(LOW) Decrease the setting
3048 4048 4048 Velocity integral gain (HIGH) values.
3049 4049 4049 Velocity integral gain (LOW)
(b) The acceleration/deceleration constant may be too large. Adjust the following parameters:
3069 4069 4069 Acceleration/deceleration constant (HIGH)
3070 4070 4070 Acceleration/deceleration constant (MEDIUM HIGH) Decrease the setting
3071 4071 4071 Acceleration/deceleration constant (MEDIUM LOW) values.
3072 4072 4072 Acceleration/deceleration constant (LOW)


(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

(b) The acceleration/deceleration constant may be too small. Adjust the following parameters:
- 475 -

3069 4069 4069 Acceleration/deceleration constant (HIGH)
Acceleration/deceleration constant
3070 4070 4070
(MEDIUM HIGH) Increase the setting
Acceleration/deceleration constant values.
3071 4071 4071
(MEDIUM LOW)
3072 4072 4072 Acceleration/deceleration constant (LOW)
(c) Regenerative power limitation (Check if the same value as in the parameter table for each
motor model is set.)
3080 4080 4080 Regenerative power limitation

(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
- 476 -

(OPTIONAL FUNCTION)

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.

- Orientation speed
I. Adjust the orientation stop (to eliminate overshoot and ensure stop-time rigidity).
- 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.
2.2.2 Overview
2.2.3 Feature
For this subsection, see Subsection 2.2.4, “ Feature”, in Part I.
- 477 -

shown below.

Temperature sensor
αCi
spindle
motor
JYA2 Spindle
αi position coder
SPMC
JYA3
NOTE
The spindle sensor (separate detector) usable with the αCi series spindle
amplifier is a position coder only.

For this subsection, see Subsection 2.2.7, “Stop Position Specification Method “, in Part I.

(1) Address list of Input signals (PMC→CNC)
15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G229 G072 G072 NRROA ROTAA INDXA

2nd- G237 G076 G076 NRROB ROTAB INDXB

With the αCi series, the signals indicated in the item above are valid. For details of each signal, see
Subsection 2.2.8(2), “Details of input signals (PMC→CNC)”, in Part I.
- 478 -

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

With the αCi series, the signals indicated in the item above are valid. For details of each signal, see
Subsection 2.2.8(4), “Details of output signals (CNC→PMC)”, in Part I.

For this subsection, see Subsection 2.2.9, “ Examples of Sequences “, in Part I.

Parameter No.
Description
15i 16i 30i
Specifies whether to use the spindle orientation function. (Set this bit to
3015 #0 4015 #0 4015 #0
1.) (The CNC software option is required.)
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
3031 4031 4031 (This parameter is disabled when spindle orientation with an externally
set stop position or an externally set incremental command is used.)
4056 to 4056 to Spindle-to-motor gear ratio
3056 to 3059
4059 4059 (A parameter is selected by the CTH1A and CTH2A input signals.)
4060 to 4060 to Position gain for orientation
3060 to 3063
4063 4063 (A parameter is selected by the CTH1A and CTH2A input signals.)
3064 4064 4064 Acceleration limitation ratio at deceleration time (Set to 100.)
4320 to 4320 to Acceleration at orientation deceleration time

3320 to 3323 (A parameter is selected by the CTH1A and CTH2A input signals.)
4323 4323
NOTE
RELATED TO DETECTORS” in the Part III.
- 479 -

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

0 0 By rotation direction immediately before
0 1 By rotation direction immediately before
15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3005 4005 4005 VCTLPC

control.
Set to 1.
15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3017 4017 4017 NRROEN
state.
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

Unit of data : 1 pulse (360°/4096)

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


This parameter sets the orientation speed at the end of the spindle.
- 480 -
When this data is set to 0, 200 min-1 is set.
15i 16i 30i

Unit of data :
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

Unit of data :
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


in the parameter.
- 481 -
NOTE
detected.
proper gear ratio.
15i 16i 30i


15i 16i 30i

3064 4064 4064 Acceleration limitation ratio at deceleration time
Unit of data : 1%
Set to 100.
15i 16i 30i

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

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”.
signal (ORARA) is set to “0”.
15i 16i 30i

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

- 482 -
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

Unit of data : 1%
This parameter sets the motor voltage for orientation. Usually, set 60.
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

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.

Part I.
- 483 -

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


Temperature sensor
αCi
spindle
motor
JYA2 Spindle
αi position coder
SPMC
JYA3
- 484 -
NOTE

This subsection provides a list of the I/O signals related to rigid tapping only. For details of each signal,

(c) For Series 15i
(d) For Series 0i
Part I.

(a) Series 16i
#7 #6 #5 #4 #3 #2 #1 #0
SWS2 SWS1
G027
(*1) (*1)
G028 GR2 GR1
GR21
G029
(*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.
According to the GR21 signal, the individual gear parameters for gear 1 or 2, also
used for the 1st spindle, are selected.
- 485 -
(b) Series 30i

#7 #6 #5 #4 #3 #2 #1 #0
SWS2 SWS1
G027
(*1) (*1)
G028 GR2 GR1
GR22 GR21
G029
(*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.
(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

(a) Series 16i
#7 #6 #5 #4 #3 #2 #1 #0
GR3O GR2O GR1O
F034
(*1) (*1) (*1)
RGSPM RGSPP
F065
(*1) (*1)
F076 RTAP
NOTE
(b) Series 30i

#7 #6 #5 #4 #3 #2 #1 #0
GR3O GR2O GR1O
F034
(*1) (*1) (*1)
RGSPM RGSPP
F065
(*1) (*1)
F076 RTAP
NOTE
- 486 -
(c) Series 15i

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

(c) For Series 15i
(d) For Series 0i

Parameter No.
Description
15i 16i 30i
5202#0 Whether to perform orientation (reference position return) when
5606#6 5202#0
(M series only) starting rigid tapping
3706#1,#0
3707#1,0
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
- 487 -
Parameter No.
Description
15i 16i 30i
5605#2
- -
5752
- -
5885 FL speed for spindle and drilling axis acceleration/deceleration
- -
5888 on rigid tapping
- -
5891
- -
5894
5201#2 5201#2 Time constant at extracting
-
5271 to 5274 5271 to 5274 (No. 5274 is used for the T series only.)
5310
5341
5853
Backlash of spindle
5856 5321 5321
(16i: Nos.5322 to 5324, 30i: No. 5324 is used for the T series
5859 5322 to 5324 5322 to 5324
only.)
5862
Whether to enable the rotation direction signal (SFR/SRV) on
3002#5 4002#5 4002#5
servo mode
3005#0 4005#0 4005#0 Setting of the velocity feedback method (Set to 1.)
Velocity loop proportional gain on servo mode/spindle
3044 4044 4044
synchronous 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
Gear ratio between spindle and motor
3056 to 3059 4056 to 4059 4056 to 4059
(It is selected by input signal CTH1A or CTH2A)
3065 to 3068 4065 to 4068 4065 to 4068
(It is selected by input signal CTH1A or CTH2A)
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
NOTE
RELATED TO DETECTORS” in the Part III.
- 488 -

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

3002 4002 4002 SVMDRT
(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.
15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3005 4005 4005 VCTLPC

control.
Set to 1.
15i 16i 30i

3044 4044 4044 (HIGH) CTH1A=0

3045 4045 4045 (LOW) CTH1A=1
Unit of data :
- 489 -
15i 16i 30i

3052 4052 4052 CTH1A=0

3053 4053 4053 CTH1A=1
Unit of data :
NOTE
For velocity loop gain setting on spindle synchronous control and
servo mode, the common parameters are used.
15i 16i 30i


in the parameter.
NOTE
detected.
- 490 -
15i 16i 30i

3065 4065 4065 CTH1A=0, CTH2A=0

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


3068 4068 4068 CTH1A=1, CTH2A=1

A parameter is selected according to the input signals CTH1A and CTH2A.
NOTE
15i 16i 30i

Unit of data : 1 pulse (=360°/4096)

positioning).
number of pulses.
15i 16i 30i

3074 4074 4074 Reference position return speed on servo mode

To perform a reference position return operation, set a reference position return speed in
this parameter.
15i 16i 30i

Unit of data : 1%
These parameters set a motor voltage on rigid tapping. Usually, set 60.
15i 16i 30i

Unit of data : 1%
- 491 -

NOTE
15i 16i 30i

Unit of data : 1ms

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.
about 300 to 400 (300 to 400 msec).

(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] [2nd. sp]

Gear signal Parameter No. Gear signal Parameter No.
CTH1A CTH2A 15i 16i 30i CTH1B CTH2B 15i 16i 30i
0 0 3056(S1) 4056(S1) 4056(S1) 0 0 3056(S2) 4056(S2) 4056(S2)
0 1 3057(S1) 4057(S1) 4057(S1) 0 1 3057(S2) 4057(S2) 4057(S2)
1 0 3058(S1) 4058(S1) 4058(S1) 1 0 3058(S2) 4058(S2) 4058(S2)
1 1 3059(S1) 4059(S1) 4059(S1) 1 1 3059(S2) 4059(S2) 4059(S2)
(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]
- 492 -

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 surface

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

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.
[Series 30i]
Standard machining[M series]: GR3O, GR2O, GR1O
Second spindle : GR22, GR21(Multi-spindle control option is needed)
- 493 -

Gear signal
Parameter No. Gear signal Parameter No.
GR1O GR2O GR3O
1 0 0 5231 GRs1* GRs2* T M
0 1 0 5232 5280(*1)
0 0 1 5233 0 0 5281
1 0 5282
0 1 5283
1 1 5284 5283
NOTE
*1 When this parameter is “0”, each gear parameter becomes valid.
[1st. sp] [2nd. sp]

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.
[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]
- 494 -

2nd. sp of Turning [T series] : GR21 (Multi-spindle control option is needed)
GR1O GR2O GR3O
1 0 0 5261 5271 5241
0 1 0 5262 5272 5242
0 0 1 5263 5273 5243

Gear signal Spindle max. speed at rigid
Time constant Time constant (Cutting
tapping
1st. sp 2nd. sp (Cutting in) out)
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

[Series 30i]


2nd. sp : GR21, GR21 (Multi- spindle control option is needed)
- 495 -

GR1O GR2O GR3O
1 0 0 5261 5271 5241
0 1 0 5262 5272 5242
0 0 1 5263 5273 5243

Spindle max. speed at rigid
Gear signal tapping
(Cutting in) (Cutting out)
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 -
NOTE

[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.
 The time constant is a fixed value if bit 2 of parameter No. 5605 = 0.
Acc./Dec. time constant 5751
Spindle speed 5757
<ii> 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
- 496 -

Parameter No.(FS16i) Description

Maximum spindle speed on rigid tapping (Depends on the GR signal. 5244 is for the T
5241 to 5244
series only.)
5261 to 5264
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.)

For this item, see Item 2.3.9-(3), “Spindle data used for adjustment”, in Part I.

For this item, see Item 2.3.9-(4), “Adjustment procedure”, in Part I.

2.3.11 Alarm
- 497 -

FUNCTION)

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.
- Acceleration/deceleration time constant used for spindle synchronous control
H. Check that the error pulse difference between the spindles is within ±5 pulses.
- 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.
2.4.2 Overview
For this subsection, see Subsection 2.5.2, “ Overview “, in Part I.
- 498 -

below.

1st spindle
Temperature
sensor
CNC αCi spindle motor
JA7B Spindle
SPMC
JYA3
JA7A
2nd spindle
Temperature
sensor αCi spindle motor
JA7B Spindle
SPMC
JYA3

NOTE

For this subsection, see Subsection 2.5.4, “Explanation of Operation “, in Part I.
- 499 -

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

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.

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

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.


Parameter No.
Description
16i 30i
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
Direction of rotation of each spindle motor while spindle synchronous control is
- 4801#0
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
4002#6 4002#6
synchronous control
- 500 -
Parameter No.
Description
16i 30i
4005#0 4005#0 Setting of the velocity feedback method
4006#3 4006#3
4032 4032
4035 4035 Compensation data for spindle phase synchronous control

4045 4045 (A parameter is selected by the CTH1A PMC input signal.)

4056 to Spindle-to-motor gear ratio data

4056 to 4059
4059 (A parameter is selected by the CTH1A and CTH2A PMC input signals.)
Position gain on spindle synchronous control
4065 to
4065 to 4068 (The same value must be specified for both the 1st and 2nd spindles.)
4068
4085 4085 Motor voltage on spindle synchronous control
4336 4336 constant used on spindle synchronous control
Bell-shaped acceleration/deceleration time constant on spindle synchronous control
4340 4340
NOTE

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.

(c) For Series 0i
- 501 -
16i 30i #7 #6 #5 #4 #3 #2 #1 #0
4002 4002 SYCDRT
synchronous control
G70) = 1.
G70) = 1.
16i 30i #7 #6 #5 #4 #3 #2 #1 #0
4005 4005 VCTLPC

control.
Set to 1.
16i 30i #7 #6 #5 #4 #3 #2 #1 #0

0 : 1/100 unit
1 : 1/1000 unit
rotation
spindle rotation
Parameter No.
Description
16i 30i
NOTE
set to 1).
- 502 -
SYCREF Setting for function performing automatic detection of the one-rotation signal on
spindle synchronous control
synchronization is not carried out)
When this parameter is set to 1, check that the one-rotation signal has been detected for
16i 30i

This parameter sets an acceleration value for linear acceleration/deceleration when the
synchronous speed command for spindle synchronous control is changed.
NOTE
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

16i 30i
Unit of data : 1 pulse unit (360°/4096)

Sets the shift amount from the reference point at spindle phase synchronous control
(one-rotation signal).
- 503 -
16i 30i

alignment.
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 :
Standard setting : Varies with the motor model.
This parameter sets a velocity loop proportional gain on servo mode (rigid
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 :
This parameter sets a velocity loop integral gain on servo mode (rigid tapping/spindle
NOTE
16i 30i
- 504 -

When the motor rotates 2.5 times for each turn of the spindle, for example, set 250 in the
parameter.
NOTE
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

This sets position gain on servo mode (rigid tapping/spindle positioning). It is selected by
CTH1A or CTH2A of input signal.
NOTE
16i 30i
4085 4085 Motor voltage setting on spindle synchronous control
Unit of data : 1%
Usually, set to 60.
16i 30i
Unit of data 1min-1

- 505 -
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
guaranteed.
2 When this parameter is set to 0, linear acceleration/deceleration is
performed.
16i 30i
4340 4340 control

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.
NOTE
guaranteed.

For this subsection, see Subsection 2.5.9, “Number of Error Pulses in Spindle synchronous Control”, in
Part I.

Control

- 506 -
2.4.12 Alarm
For this subsection, see Subsection 2.5.12, “Alarm “, in Part I.
2.5.1 Overview
This section describes the I/O signals (CNC↔PMC), parameters, diagnosis signals, and alarms common
to all operation modes.

This subsection provides a list of the I/O signals related to spindle speed control only. For details of each

(c) For Series 15i
(d) For Series 0i
Part I.

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

- 507 -
NOTE
(b) Series 30i

#7 #6 #5 #4 #3 #2 #1 #0
(*1) (*1) (*1) (*1)

NOTE
(c) Series 15i

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


(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- G228 G073 G073 MPOFA

2nd- G236 G077 G077 MPOFB
- 508 -
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.

(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)
F037 R12O R11O R10O R09O
NOTE
(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)
F037 R12O R11O R10O R09O
NOTE
- 509 -
(c) Series 15i

#7 #6 #5 #4 #3 #2 #1 #0
1st- F341 SRRDYA

2nd- F342 SRRDYB
(d) Common to CNCs

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- F231 F047 F047 PC1DTA

2nd- F247 F051 F051 PC1DTB
2.5.3 Parameters
This subsection describes those parameters that are common to all operation modes by dividing them into
several types.
NOTE

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.
- 510 -
Parameter No.
Description
15i 16i 30i
3011#3 4011#3 4011#3 Sets the number of motor polarities.
3011#7 4011#7 4011#7 Sets the number of motor polarities.
3012#2,#1,#
4012#2,#1,#0 4012#2,#1,#0 Sets a PWM carrier frequency.
0
3080 4080 4080 High-speed area regenerative power limit/regenerative power limit
3083 4083 4083 Motor voltage on velocity control motor
3102 4102 4102 Excitation voltage saturation speed with no load
3103 4103 4103 Base speed limit ratio
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
3111 4111 4111 Secondary current coefficient
3112 4112 4112 Voltage command saturation decision level/PWM command clamp value
3113 4113 4113 Slip constant
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
Compensation coefficient between the specification and true
3128 4128 4128
base/maximum torque curve compensation coefficient
Current loop proportional gain velocity coefficient/current phase delay
3130 4130 4130
3131 4131 4131 Dead-band compensation hysteresis

Parameter No.
Description
15i 16i 30i
Motor power turn-off method when spindle alarm 24 (serial data transfer
3009#2 4009#2 4009#2
error) is issued
Gear ratio parameter setting error alarm (spindle alarm 35) detection
3086 4086 4086
level
- 511 -
Parameter No.
Description
15i 16i 30i

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
5602#3 - -
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
3002#4 4002#4 4002#4 SM pin output data selection
3005#0 4005#0 4005#0 Setting of the velocity feedback method
Whether to output the load detection signal (LDT1A) during
3009#4 4009#4 4009#4
3059 4059 4059 Gear ratio (Low)
3078 4078 4078 Gear switch timer
3121 4121 4121 Torque change time constant (torque command filter time constant)

details of other parameters, refer to the parameter manual of each CNC.

Usually, the settings of the motor parameters specific to spindle motor driving need not be changed. Their
details are omitted.

- 512 -
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 (spindle alarm 24) is issued
alarm is issued
15i 16i 30i

3086 4086 4086 Gear ratio parameter setting error alarm (spindle alarm 35) detection level

Standard setting value : 0 (equivalent to 500 min-1)
This parameter sets the detection level of the gear ratio parameter setting error alarm
(spindle 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 (spindle alarm 35) is issued.
When the standard setting (0) is used, the setting of 500 min-1 is assumed.
15i 16i 30i


motor is bound.
15i 16i 30i

Unit of data : 0.1%

15i 16i 30i

Unit of data : 1%
29).
- 513 -
= 100%) is imposed on the spindle motor lasts for a specified period (set in No. 4123) or
more, the short-time overload alarm (spindle alarm 29) is issued.
15i 16i 30i

Unit of data : 1sec

29).

and (2) above.
15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3001 4001 4001 MRDY1

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

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.
- 514 -
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.
15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3006 4006 4006 SPDUNT GRUNIT

0 : 1/100 unit
1 : 1/1000 unit
rotation
spindle rotation
Parameter No.
Description
15i 16i 30i
NOTE
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
15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0


- 515 -
NOTE

(No. 4000 to No. 4175) for the αCi series spindle corresponding to the model code are
set to 0.
NOTE
15i 16i 30i


15i 16i 30i

Unit of data : 0.1%

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

Unit of data : 0.1%

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.
15i 16i 30i

- 516 -

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

Unit of data : 1%
command HIGH (TLMHA) is specified.
Torque limitation command

Description
HIGH (TLMHA)
0 No torque limitation is imposed.
1 The torque is limited to the value set in this parameter.
15i 16i 30i

Unit of data : 1%
15i 16i 30i


Example :
- 517 -
NOTE
detected.
proper gear ratio.
15i 16i 30i

3078 4078 4078 Gear switch timer
Unit of data : 1sec

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.
15i 16i 30i

Unit of data : 0.1%

Valid data range : -1000 to +100(-100% to +10%)
Set this parameter when making a fine adjustment of speedometer terminal output
voltage.
NOTE
15i 16i 30i


Basically, use the standard setting value 5 (time constant of 2.5 ms).

- 518 -
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 3.I/O SIGNALS (CNC↔PMC)

This chapter explains the functions of the signals directly input from the PMC to SPMC via the CNC and
the signals directly output from the SPMC to PMC. For other spindle-related I/O signals, refer to the
Connection Manual (Function) of the relevant CNC.

Refer to Chapter 9 “SPINDLE SPEED FUNCTION.”
Refer to Section 11.3 “SPINDLE SPEED CONTROL.”
(c) For Series 15i
Refer to Section 9.7 “SPINDLE SPEED FUNCTION.”
(d) For Series 0i
3.1 INPUT SIGNALS (PMC→CNC→SPMC)

This section explains the functions of the signals directly input from the PMC to SPMC via the CNC.
For other spindle-related input signals, refer to the Connection Manual (Function) of the relevant CNC.

(c) For Series 15i
(d) For Series 0i
- 519 -
3.I/O SIGNALS (CNC↔PMC) FANUC AC SPINDLE MOTOR αCi series B-65280EN/08

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


For information about the signals listed in Subsection 3.1.1, “List of Input Signals”, in Part III, see
the αCi series spindle.
This subsection describes only those signals that have different specifications for use with the αCi
spindle.

TLMLA, Torque limitation Switches to a speed control method that uses speed estimation during gear
TLMLB command LOW switching.
0: -
1: Performs speed control using only speed estimation. (However, there is the
delay set by the gear switching timer [No.4078].)

For information about the signals listed in Subsection 3.1.1, “List of Input Signals”, in Part III, see
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.)
- 520 -
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 3.I/O SIGNALS (CNC↔PMC)
Gear switching timer operating

Torque limitation
command signals
(TLMLA)
Control by the motor speed Control by the motor speed

calculated from the position Control by speed calculated from the position
coder signal estimation coder signal
(Example of a recommended sequence)

Torque limitation 1
command (TLMLA) 0
Software internal timer
LOW
Gear shifter
HIGH
LOW
Gear state
HIGH
Clutch/gear signals 1
(CTH1A,CTH2A) 0
3.2 OUTPUT SIGNALS (SPMC→CNC→PMC)

This section explains the functions of the signals directly output from the SPMC to PMC via the CNC.
For other spindle-related output signals, refer to the Connection Manual (Function) of the relevant CNC.

Refer to Section 11.3 “SPINDLE SPEED CONTROL.”
(c) For Series 15i
(d) For Series 0i

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
- 521 -
3.I/O SIGNALS (CNC↔PMC) FANUC AC SPINDLE MOTOR αCi series B-65280EN/08

For information about the signals listed in Subsection 3.2.1, “List of Output Signals”, in Part III, see

For information about the signals listed in Subsection 3.2.1, “List of Output Signals”, in Part III, see
Those signals that are not listed in Subsection 3.2.1, “List of Output Signals”, in Part III are not used with
- 522 -
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 4.ADJUSTMENT
4 ADJUSTMENT
4.1.1 Overview
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.

15i 16i 30i
Unit of data :
15i 16i 30i

Unit of data :
(2) Orientation
15i 16i 30i
Unit of data :
15i 16i 30i

- 523 -
4.ADJUSTMENT FANUC AC SPINDLE MOTOR αCi series B-65280EN/08
Unit of data :

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 :
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 :

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 :
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 :
NOTE
For the velocity loop gain on spindle synchronous control and on the
servo mode, common parameters are used.

In preparation for the adjustment, settings must be made so that a stable operation takes place in each
mode without overshoot or oscillation.
operation mode, and confirm operations.
- 524 -
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 4.ADJUSTMENT
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.

- 525 -
IV. FANUC BUILT-IN SPINDLE MOTOR
BiS series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 1.START-UP
1 START-UP
- CNC model
- Spindle motor
- Power supply (PS)
- Spindle amplifier
- Sub module SM (SSM)
- Detector system
B. Check all connections. (See DESCRIPTIONS.)
D. Check the CNC parameter setting for using the BiS series
E. Perform automatic BiS series (Serial) spindle parameter

- Set a motor model code “300” and the parameter enabling I. 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.
After loading all parameters, set “0” to
the parameters (e.g. No.4084,
F. Change parameter data.
No.4355/No.4356 etc.) which shoud be
- Perform automatic initialization by specifying “300”, then
adjusted in each machine.
change the parameter data according to the parameter list
for the motor.
H. Set the parameter related to Sub module SM (SSM) and

confirm it. (See Section 1.4.)
J. Check the waveforms of the feedback signals from detectors.

(Refer to the MAINTENANCE MANUAL.)
K. Set and check the parameters related to magnetic pole

detection and adjust an AMR offset. (See Section 1.5.)
- 529 -
1.START-UP FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08


(1) Parameter list
Parameter No.


Perform spindle parameter initialization by following the procedure below.
<1> Set model code “300”.
Parameter No.
3133 4133 4133 Model code
Parameter No.
- 4019#7 4019#7 1
5607#0 - - 0
NOTE
<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 Automatic Setting of the Parameter for Specifying the PS

Management Axis
For this subsection, see Subsection 1.2.3, "Automatic Setting of the Parameter for Specifying the PS
Management Axis", in Part I.

1.2.5 Alarm
- 530 -

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 an αiBZ sensor or αiCZ sensor
(analog or serial). In the case of the αiCZ sensor (serial), however, use spindle
software 9D80 series H (08) edition, 9D90 series A (01) edition, or 9DA0 series
(01) edition or later.

For this subsection, see Subsection 1.3.1, “List of Parameters for Detectors”, in Part I.


・When the αiBZ sensor or αiCZ (analog) sensor is used
・When the αiCZ (serial) sensor is used


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
are being set.
off once.
NOTE
In the sample system configurations below, spindle amplifier (SP) TYPE B is
used, assuming that the sub module SM is connected.
- 531 -
(1) When the αiBZ or αiCZ sensor (analog) is used

αiBZ sensor or
αiCZ sensor (analog) Spindle +
Spindle+
built-in motor
Built-in
JYA2
SP
TYPE B

4010 #2,#1,#0 0,0,1 Uses the αiBZ or αiCZ sensor (analog) as the motor sensor.
4056 to 4059 100 or 1000
1:1

SP
TYPE B
Spindle+
Detection
Built-in motor
JYA3 circuit
Thermistor

4010 #2,1,0 0,1,1 Uses the αiCZ sensor (serial) as the motor sensor.
4011 #2,1,0 Depends on the detector. Sets the number of motor sensor gear teeth. (For 512λ/rev)
4016 #6 1 Alarms related to threading position feedback signals are
enabled.
4056~4059 100 or 1000
1:1
4334 Sets the number of motor sensor gear teeth. (For 768λ/rev、
Depends on the detector.
1024λ/rev)
- 532 -
NOTE
and editions:
・9D80/08 edition or later
・9D90/01 edition or later
・9DA0/01 edition or later
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.
CAUTION
1 This section provides information important to safe use of the BiS series spindle
(synchronous built-in spindle motor). Be sure to read this section.
2 To use the BiS series spindle motor safely, be sure to connect the SSM.
3 Specify the parameter related to the SSM (bit 5 of parameter No. 4008 to 1) and
confirm that the SSM operates securely (see Subsection 1.4.7).

1.4.3 Configuration
The following figure shows the connection of the sub module SM.
For the specifications of the sub module SM and connection details, refer to “FANUC SERVO
AMPLIFIER αi series DESCRIPTIONS (B-65282EN)”.
Speed feedback
SP JYA2 αiBZ / αiCZ BiS series Spindle
TYPE B sensor spindle motor
JYA4 CX31
TB2
or
CZ2
Power line terminal
SSM (sub module SM)
- 533 -
NOTE
To use the sub module SM, spindle amplifier (SP) TYPE B is required.

CAUTION
This subsection describes the parameters related to the sub module SM (SSM).
To use the SSM safely, specify the following parameter related to the SSM and
confirm that the SSM operates securely (see Subsection 1.4.7).
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.
To use the synchronous built-in spindle motor safely, connect the SSM securely and set this bit to
"1".
1.4.5 Stop Processing When a Sub Module SM Error Occurs

CAUTION
1 This subsection describes stop processing to be performed when a sub module
SM (SSM) error occurs.
2 If an SSM error occurs, the function for protecting the amplifier against a spindle
alarm does not operate normally. 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

Sub module SM Output when a sub module SM (SSM) error is detected.
SSMBRKA,
(SSM) error state 0: Normal state
SSMBRKB
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 spindle amplifier (SP)
has state error 36 turned on. At this time, decelerate and stop the motor safely by following the procedure
below:
(1) Disconnect the spindle for which the SSM error occurs mechanically from other axes. This operation
is to prevent the deceleration of the spindle motor from having a mechanical impact on the spindles.
(2) Then, decelerate and stop the target spindle.
(3) When the motor is decelerated and the speed becomes zero (SST = 1), spindle alarm 89 is issued.
- 534 -
(Timing chart)
SSMBRK
(1) Disconnection processing
Motor speed (2) Deceleration is started.
(3) Alarm 89 after the motor stops

Alarm 89

(a) Spindle alarm
LED
Alarm No.
display
Description Measure
Spindle
15i 16i 30i
amplifier
The SSM is abnormal.
Alarm 89 cannot be reset.
(1) The spindle amplifier (SP)
Turn the power off, then check
does not support the SSM.
whether the SP supports the
(2) No SSM is installed or
SSM and whether the SSM
SP0089 9089 SP9089 89 connected.
and SP are connected
(3) The interface signal between
properly.
the spindle amplifier (SP)
If the SSM is faulty, replace the
and SSM is disconnected.
SSM.
(4) The SSM is faulty.
(b) Status error

Status error
Description Measure
No.
The SSM is abnormal.
(1) The interface signal between the For PMC processing to be performed when error 36 is
36 spindle amplifier (SP) and SSM is issued, see Subsection 1.4.5, “Stop Processing When
disconnected. a Sub Module SM Error Occurs”, in Part IV.
(2) The SSM is faulty.
1.4.7 Caution
CAUTION
This subsection provides notes on using the BiS series spindle safely. Fully
understand the instructions described in this subsection before using the BiS
series spindle.
(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 time
(corresponding to “t” in the figure below) of the self test is about 450 msec (with 9D53 series H (08)
edition or later, 9D70 series G (07) edition or later, 9D80 series B (02) edition or later; 9D90 series
A (01) edition or later, and 9DA0 series A (01) edition or later about 250 msec with any edition
earlier than the above).
- 535 -
*ESP (emergency stop)
SSM self test
MCC t
MCC: The MCC is connected between the power supply and common power
supply (PS), and the MCC switch signal line is connected to the CX3 of the
common power supply (PS). 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 common power supply (PS) 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 spindle amplifier (SP) is turned
on, set the emergency stop signal (*ESP) to 1.
Step 5. The self test function is operating normally if spindle alarm 89 is issued at emergency stop
cancellation time. If the alarm is not issued, the cable, parameter, or spindle amplifier (SP)
is abnormal.
Step 6. Turn off the power to the machine. Be sure to reinstall the CX3 and CX31 connectors.
(3) If a spindle alarm is issued and the spindle amplifier (SP) 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 differs from ordinary deceleration in that it is dynamic brake operation caused by
short-circuits between motor pins by the SSM, however. If the SSM is faulty at this time, the spindle
amplifier (SP) can be damaged.
(4) After the SSM is activated, the spindle amplifier (SP) ignores any alarm reset unless the speed zero
state (speed zero signal SST = 1) continues for at least 5 sec (with 9D53 series G (07) edition or later,
9D70 series F (06) edition or later, or 9D80 series B (02) edition or later; for at least 120 sec with
any edition earlier than the above). For resetting of the alarm, the speed zero state (SST = 1) needs to
be set.
(5) After the SSM is activated, the SP ignores any alarm reset during the period described in item (4).
When the SSM is active, reset the alarm after the period has elapsed. 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
(dynamic brake operation, which differs from ordinary deceleration) occurs instead of a free-run
stop.
(7) When the SSM is faulty, inputting the motor power turn-off signal MPOF may damage the spindle
amplifier (SP). So, ensure that MPOF is not input in a high-speed area where the SSM is needed.
- 536 -
(8) Do not insert a switch element such as an electromagnetic contactor in the power line between the
spindle amplifier (SP) and synchronous built-in spindle motor. If the power line is broken during
rotation, the amplifier or motor can be damaged.
1.5 POLE POSITION DETECTION
1.5.1 Overview
To control the synchronous built-in spindle motor, information about the pole position (phase) of the
rotor is needed. Operation for detecting the pole position (phase) of the rotor is referred to as pole
position detection. Immediately after the power is turned on or if pole position information is lost for a
cause such as an alarm, pole position detection needs to be performed before the motor can be driven.
Three pole position detection modes are available:
• Minute moving mode (usable with 9D53 series I edition or later, 9D70 series H edition or later,
9D80 series B edition or later, 9D90 series A edition or later, and 9DA0 series A edition or later)
• Auto select mode (usable with 9D53 series C edition or later, 9D70 series B edition or later, 9D80
series B edition or later, 9D90 series A edition or later, and 9DA0 series A edition or later)
• DC current mode
By setting the phase difference between the 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).
- 537 -
WARNING
1. For the BiS series spindle motor, if pole position detection and other basic
parameter settings are inappropriate, the correct pole position cannot be
detected, and the motor may move unpredictably or the maximum motor speed
may be exceeded.
2. To avoid danger due to the above symptom, performing the following action is
recommended until normal spindle motor operation is confirmed:
<1> Specify a value smaller than or equal to 10% of the specified maximum
motor speed for the maximum motor speed parameter (No. 4020 for
FS30i, 16i or No. 3020 for FS15i).
<2> Specify a low torque limitation value to limit the torque (for example,
specify 10% for the torque limitation parameter (No. 4025) and set torque
limitation command signal TLMHA to 1) so that the motor is not
accelerated suddenly.
<3> Be sure to close the protection door during pole position detection and
subsequent command input.
If these conditions are not satisfied and the correct pole position cannot be
detected, the motor may move unpredictably with the maximum torque until the
SP detects an overspeed alarm.
3. Use the pole detection state signals to create the following sequence with the
PMC:
<1> When the protection door is open, starting pole position detection is
prohibited.
<2> If the protection door is opened during pole position detection (from the
start of detection until pole position detection signal EPFIX is set to 1),
pole position detection is stopped.
<3> In the pole position undetected state (when EPFIX is set to 0), no
command is input.
1.5.2 Pole Position Detection Operation

(1) Minute moving mode
Usable with 9D53 series I edition or later, 9D70 series H edition or later, 9D80 series B edition or later,
9D90 series A edition or later, and 9DA0 series A edition or later.
In the minute moving mode, pole position detection is performed while the motor is moved in very small
steps. When the motor is locked, pole position detection is disabled in principle (spindle alarm 65 is
issued).
Usually, pole position detection in this mode is recommended.
(2) Auto select mode

Usable with 9D53 series I edition or later, 9D70 series H edition or later, 9D80 series B edition or later,
9D90 series A edition or later, and 9DA0 series A edition or later.
In the auto select mode, pole position detection is performed in either of the following two modes that is
selected automatically by the spindle amplifier (SP):
Minute moving mode: In this mode, pole position detection is performed while the motor is moved
in very small steps.
Stop mode: In this mode, pole position detection is enabled even when the motor is locked.
In the auto select mode, pole position detection is started in the minute moving mode. When the motor is
detected to be locked, the spindle amplifier selects the stop mode and pole position detection is
performed.
- 538 -
Example of pole position detection: Auto select mode

Parameters No. 4083=5030, No. 4398#2(SELMET)=1, No. 4449=0, No. 4450=0
IINORM
Motor speed
pole position detection activation Normal end of pole position detection
NOTE
In the auto select mode, pole position detection is enabled even when the motor
is locked because the stop mode can be selected. To select the stop mode,
however, the following conditions must be satisfied:
• The 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.)
If either of the above conditions is not satisfied, the precision of detection may be
degraded or the pole position may be unable to be detected. So, confirm that
operation in the stop mode can be performed normally before using the auto
select mode.
When the minute moving mode or auto select mode is used, the velocity feedback may exceed the value
set in parameter No. 4450 (velocity feedback threshold) due to noise and a symptom such as the
following may occur: Pole position detection is not started or is not completed. In this case, follow the
steps below:
<1> First, check the noise level of the velocity feedback.
<2> When the noise level of the velocity feedback is 5.5 min-1 or less, set the lower two digits (velocity
feedback threshold) of parameter No. 4450 to the standard setting (0: 11 min-1).
<3> When the noise level of the velocity feedback exceeds 5.5 min-1, first reduce the noise by
suppressing it. If the noise cannot be reduced to the allowable level by any means, set the lower two
digits (velocity feedback threshold) of parameter No. 4450 to about double the noise level.
(3) DC current mode

In the DC current mode, pole position detection is performed while the motor is vibrating to a large
extent.
When the motor is locked, pole position detection is disabled.
Operation in the DC current mode is as follows:
<1> A direct current is flowed in 0 deg electric angle.
<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, a direct current is flowed in 90 deg electric angle.
<4> Check that the motor is stopped.
<5> After checking that the motor is stopped, the spindle 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 pole position detection is the electric angle 270 deg.
- 539 -
Example of pole position detection: DC current mode

Parameter No. 4083=5030
Pole position detection IINORM Normal end of pole position
activation detection
Motor speed
Example of pole position detection: DC current mode Example of pole position detection: DC current 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)
1.5.3 AMR Offset Function

The spindle amplifier controls the motor based on the initial pole position estimated by pole position
detection. So, a large error between the estimated and true pole position may affect the motor so that the
acceleration/deceleration time during forward rotation differs from that during reverse rotation (torque
characteristics during forward rotation differ from those during reverse rotation) or another symptom
occurs.
The AMR offset function minimizes the error between these pole positions.
Reading this subsection and using the AMR offset function are recommended.
WARNING
1. The AMR offset is a parameter indicating the phase relationships between the
motor magnetic pole position and motor sensor. After the phase relationships
are changed due to a cause such as the replacement of the motor sensor or the
loading of parameters of another machine, the AMR offset must be adjusted
again.
2. If an inappropriate value is set for the AMR offset parameter, after the execution
of the AMR offset, the motor may not recognize the correct magnetic pole
position, may move unpredictably, and may rotate at a speed higher than the
specified speed.
NOTE
This function can be used with 9D53 series C (03) edition or later, 9D70 series B
(02) edition or later, 9D80 series B (02) edition or later, 9D90 series A (01)
edition or later, and 9DA0 series A (01) edition or later.
(1) AMR offset function operation

When the AMR offset function is enabled, the spindle amplifier determines the estimated pole position as
follows:
- 540 -
Updates estim ated pole position based on Update estim ated pole position based on
P ole position initial phase determ ined by pole position A M R offset (param eter No. 4084) of
detection. one-rotation signal position.
360°
No.4084
(A M R offset)
0°
Tim e
P ole position O ne-rotation
detection com pleted signal detected
: True pole position

: Estim ated pole position
<1> After the power is turned on, pole position detection is performed.
“The precision of the estimated pole position” is “the precision of pole position detection.” So, the
width of the error between the estimated and true pole positions is determined depending on the
precision of pole position detection.
<2> When a rotation command is input, the motor rotates and the estimated pole position is updated
using the feedback data of the motor sensor based on the initial pole position determined in step <1>.
So, the error of the initial value determined in step <1> is the error of the estimated pole position
with no change.
<3> When the AMR offset function is enabled (when bit 6 of parameter No. 4008 is 0 and the value of
parameter No. 4084 is the adjustment value and is not 0), the following processing compensates the
displacement of the detected pole position above.
When the motor rotates and the one-rotation signal is detected, the estimated pole position is forcibly
replaced with AMR offset data (parameter No. 4084). AMR offset processing is executed only when
the one-rotation signal is detected for the first time after pole position detection.
(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 performing pole position detection, rotate the motor at about 100 min-1 and check the pole
position when the one-rotation signal is detected. When the one-rotation signal is detected, data
changes from “0” to “the pole position when the one-rotation signal is detected.”
(*) Checking the pole position when the one-rotation signal is detected
• On the diagnosis screen :
Set parameter No. 4532 to 2. The pole position is displayed on diagnosis screen No. 720 (1st
spindle). This function may be unavailable depending on the spindle software edition. For
details, see Subsection 1.5.5(2), “Parameters related to AMR offset”.
• On the spindle check board :
Make a setting for display. (d-01=977, d-02=0, d-03=0, d-04=0)
<3> The checked pole position contains the detection error. Check the pole position as described in step
<2> several times and find the average.
<4> Turn motor excitation off, then set the average found in step <3> in parameter No. 4084.
WARNING
If an inappropriate value is set for the AMR offset (parameter No. 4084), after the
execution of the AMR offset, the motor may move unpredictably. So, observe the
following rules strictly when setting the parameter:
- Set the parameter in the emergency stop signal input state.
- Confirm that the setting is the same as the average found in step <3>.
- 541 -
<5> Turn the power off, then on again and perform pole position detection. Accelerate and decelerate the
motor with the forward and reverse rotation commands at about 100 min-1, and check whether the
motor rotates normally.
<6> By using the SERVO GUIDE or spindle check board, measure the torque command, actual speed,
and the torque command in a constant rotation when acceleration/deceleration operation is
performed with the forward (SFR) and reverse (SRV) commands at the maximum speed.
<7> Compare the torque command and actual speed during forward rotation with those during reverse
rotation to check whether the AMR offset setting is appropriate. When the acceleration time,
deceleration time, and torque command amplitude during forward rotation are almost the same as
those during reverse rotation, the AMR offset data setting (parameter No. 4084) is appropriate.
<8> If they are not almost the same, the AMR offset data setting (parameter No. 4084) is inappropriate.
In this case, adjust the value of parameter No. 4085 (parameter for checking and fine-adjusting the
AMR offset) so that they are almost the same.
<9> After the completion of adjustment, set the following values in parameters Nos. 4084 and 4085:
No.4084 (new) = No.4084 (old) + No.4085 (old)
No.4085 (new) = 0
WARNING
Observe the following rules strictly when setting the parameters for the same
reasons as described in WARNING in step <4>:
- Set the parameters in the emergency stop signal input state.
- Confirm that the settings are the same as the values in step <9>.
<10> Turn the power off.

(1) Address list of Input signals (PMC→CNC)
15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G226 G071 G071 *ESPA

2nd- G234 G075 G075 *ESPB
1st- G228 G073 G073 EPFSTRA MPOFA
2nd- G236 G077 G077 EPFSTRB MPOFB

This item provides a list of the input signals related to pole position detection only. Also see Section 3.1,
“INPUT SIGNALS (PMC→CNC→SP),” in Part IV.
(a) Machine ready signal (MRDYA)

Set this signal to “1” before starting pole position detection.
(b) Forward rotation command signal (SFRA) and reverse rotation command
signal (SRVA)
(1) When bit 7 (EPFSIG) of parameter No. 4007 is set to 0:
One of these signals starts pole position detection operation.
- 542 -
Input one of the signals. The velocity command is ignored while the pole position undetected state
(EPFIX = 0). However, as soon as EPFIX is set to 1 (the pole position detection completed), the
velocity command is accepted to start rotation.
When this setting is made, these signals operate not as signals for starting pole position detection,
but as those for simply turning excitation on. Before starting pole position detection operation
(EPFSTR = 1), input either signal of SFR and SRV.
(c) Emergency stop signal (*ESPA)

Set this signal to “1” before starting pole position detection.
(d) Pole position detection operation start signal (EPFSTRA)

This signal is disabled. Always set this signal to “0.”
To make the operator concerned with pole position detection operation, this signal can be used
together with EPFIX (pole position detection state signal). While this signal is input, the spindle
software ignores a command and displays error 30 (on the spindle amplifier (SP)). So, when EPFIX
is set to 1, turn this signal off.
(e) Motor power turn-off signal (MPOFA)

Do not input this signal during pole position detection operation. The motor is not excited and the
magnetic pole position cannot be detected.

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- F230 F048 F048 EPFIXA
2nd- F246 F052 F052 EPFIXB
(a) Pole position detection state signal (EPFIXA)

This signal indicates the state of pole position detection.
0 : Pole position undetected
In this state, pole position detection operation is started by a start signal.
1 : Pole position detection completed
This signal is reset to 0 if a spindle alarm indicating the loss of the 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 pole
position detection state.
If any of the following spindle alarms is issued, the spindle amplifier (SP) loses the pole position and
turns off the pole position detection state signal (EPFIX = 0).
Spindle alarm Nos. : 01, 24, 25, 26, 31, 37, 65, 73, 90, 91, 92, 132, 133, 134, 139, 140,
141, 142

(1) Parameters related to pole position detection
15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
3007 4007 4007 EPFSIG
EPFSIG Selects a pole position detection start signal.

- 543 -
0 : Uses SFR or SRV as a pole position detection start signal.

1 : Uses EPFSTR as a pole position detection start signal.
Set this parameter to select a desired start signal.
15i 16i 30i

3083 4083 4083 Current ratio/motor stop confirmation time in pole position detection operation
The upper two digits (thousands and hundreds) indicate a current ratio in pole position
detection, and the lower two digits (tens and ones) indicate a motor stop confirmation
time.
Current ratio in pole position detection (upper two digits)

Unit of data : 1%
Set the magnitude of a current command value in pole position detection operation as a
ratio to the maximum current value.
This parameter is valid in the minute moving mode or DC current mode.
Motor stop confirmation time (lower two digits)

Set a period of time for confirming the stop of the motor in DC current mode.
This parameter is valid in DC current mode.
NOTE
If 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.
15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3398 4398 4398 SELMET
SELMET Selects a pole position detection mode.

0 : Performs pole position detection in the DC current mode.
1 : Performs pole position detection in the auto select mode or minute moving mode.
Usually, set this parameter to 1 (auto select or Minute moving mode) to use the function.
NOTE
This parameter is valid with 9D53 series C (03) edition or later,
9D70 series B (02) edition or later, 9D80 series B (02) edition or
edition or later.
15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3399 4399 4399 MINUTE
MINUTE Selects a pole position detection mode.

0 : Auto select mode (Minute moving mode + stop mode)
1 : Minute moving mode
- 544 -
Usually, set this parameter to 1 (minute moving mode) to use the function.
NOTE
This parameter is valid with 9D53 series I (09) edition or later, 9D70
series H (08) edition or later, 9D80 series B (02) edition or later,
9D90 series A (01) edition or later, and 9DA0 series A (01) edition
or later.
15i 16i 30i

3449 4449 4449 Direction detection current(Current value B)/polarity determination
current(Current value C)
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.
Direction detection current (upper three digits)

Unit of data : 1%
Set a current for pole position direction detection in pole position detection operation.
When 0 is set, 100% is set.
This parameter is valid in the stop mode.
Polarity determination current (lower two digits)

Unit of data : 1%
Set a detection current for determining the polarity of the pole position as a ratio to the
maximum current value. When 0 is set, 70% is set internally.
This parameter is valid in the stop mode.
NOTE
edition or later.
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.
Travel distance allowance magnification (upper three digits)

Unit of data : 1%
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 minute moving mode.
- 545 -
Velocity feedback threshold (lower two digits)

Unit of data : 1%
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 minute moving mode.
NOTE
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 of the motor sensor as reference pole position
data.
0 : Uses the one-rotation signal position of the motor sensor as reference pole position
data.
1 : Does not use the one-rotation signal position of the motor sensor as reference pole
position data.
When this parameter is set to “1,” the spindle amplifier operates based on the initial pole
position detected by pole position detection operation regardless of the one-rotation
signal position of the motor sensor.
Usually, set this parameter to 0 (uses the AMR offset function) to use the spindle
amplifier.
15i 16i 30i

3084 4084 4084 AMR offset
Unit of data : 1 pulse (8192 pulses = electric angle 360 deg)

Set an AMR offset.
This parameter is valid when bit 6 (NEGREF) of parameter No. 4008 is set to 0. Set an
adjustment value to this parameter. When this parameter is set to 0, the AMR offset
function is disabled. When setting 0 pulse as an AMR offset, set 8192.
See Subsection 1.5.3, “AMR Offset Function”, in Part IV, and adjust this parameter for
each motor.
CAUTION
1 This parameter needs to be adjusted for individual motors. If
parameters for another machine are loaded, clear and adjust this
parameter after loading the parameters.
2 This parameter indicates the phase relationships between the
motor and motor sensor. After the phase relationships are changed
due to a cause such as the replacement of the motor sensor, adjust
the AMR offset again.
- 546 -
NOTE
1 This parameter is valid with 9D53 series C (03) edition or later,
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)
This parameter is used to adjust the AMR offset. The pole position can be shifted by the
specified number of pulses.
After execution of the AMR offset, check the torque command and actual speed during
forward rotation/backward rotation at the same speed, and adjust this value so that the
same acceleration time and deceleration time are achieved by the same torque command
and that the torque commands during constant rotation are almost the same.
CAUTION
1 After the adjustment with this parameter, change the following
parameters in the emergency stop state:
2 Add the adjusted value of parameter No. 4085 to the setting of
parameter No. 4084, and set the obtained value for parameter No.
4084 as the new AMR offset value.
3 After setting parameter No. 4084 again, set parameter No. 4085 to
"0".
4 Turn the power off, then on again.
NOTE
1 This parameter is valid with 9D53 series C (03) edition or later,
edition or later.
2 When the spindle software edition is earlier than the editions above,
set this parameter to 0.
15i 16i 30i

3532 4532 4532 Arbitrary data output function number
Unit of data :
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 (pole position
corresponding to a one-rotation signal position counted relative to the pole detection
position) can be checked with the following numbers on the diagnosis screen of the CNC:
- 547 -
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 edition or later and 9D80 series
B 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 edition or later and 9D80 series
B 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
- 548 -
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 pole position
to be lost is issued, resulting in
EPFIX = 0.
Speed command
Pole position detection completed state

The speed command is accepted.
Pole position undetected state 6)
EPFIX The speed command is ignored. 5)
3)
The pole position is lost, so
4) that the speed command is
ignored.
Motor speed
Pole position detection completed

Pole position 0 deg Pole position 90 deg
Position movement Position movement
When SFR or SRV is input in the pole position undetected state (EPFIX = 0), pole position detection
starts, ignoring the speed command. The speed command is enabled after pole position detection is
completed (EPFIX = 1). Do not input MPOF (motor power turn-off signal) and EPFSTR (pole position
detection operation 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) In the pole position undetected state (EPFIX = 0), magnetic pole detection automatically starts.
(4) When pole position detection operation is started, the motor moves to the pole position 0 deg
position then moves to and stops at the pole position 90 deg position (machine angle 90
deg/pole-pair), determining the pole position. (DC current mode)
(5) When the pole position is determined, the motor enters the pole position detection completed state
(EPFIXA = 1), which allows the motor to drive. If a command is kept input during pole position
detection, the motor starts rotating at the same time the pole position is determined. The operator
may feel that this motion is unpredictable. So, provide interlock so that rotation and other commands
cannot be input in the pole position undetected state (EPFIX = 0).
(6) If a spindle alarm that causes the pole position to be lost is issued, the pole position undetected state
(EPFIX = 0) is set. When specifying the next rotation command, start all over again from the
beginning of the sequence.
- 549 -
(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 pole position to be lost
& SFR/SRV 2)
is issued, resulting in EPFIX = 0.
EPFSTR
5)
Speed command
Pole position
undetected state Pole position detection completed state
The speed The speed command is accepted.
command is 7)
EPFIX ignored.
6)
4)
The pole position is lost, so
that the speed command is
ignored.
3)
Motor speed
Pole position 0 deg Pole position 90 deg

Position movement Pole position detection completed
Position movement
It is assumed that the pole position determination state signal EPFIX and the pole position 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) during pole position detection operation.
(1) The operator recognizes EPFIX = 0 (the lamp turned off on the operator’s panel) then makes a
preparation for pole position detection operation.
(2) Upon completion of preparation, set EPFSTR = 1 (turn on the button on the operator’s panel) to start
pole position determination operation.
(3) The motor moves to the pole position 0 deg position then moves to and stops at the pole position 90
deg position (machine angle 90 deg/pole-pair), determining the pole position.
(4) Upon pole position determination, EPFIX = 1 is set (the lamp on the operator’s panel is turned on).
(5) The operator recognizes the completion of pole position detection operation and set EPFSTR to 0
(turns the button on the operator’s panel off).
(6) When EPFSTR is set to 0, the speed command can be accepted. Confirm that the spindle amplifier is
in the pole position detection completed state (EPFIX = 1) and EPFSTR is set to 0 before inputting a
rotation or move command.
(7) If a spindle alarm that causes the 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.
1.5.7 Causes of Spindle Alarm 65

If pole position detection fails, spindle alarm 65 is issued. This alarm may be issued for the causes listed
below. If spindle 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 pole position detection is small so that friction impedes movement.
If spindle 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.
- 550 -
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. (Alternatively, the magnetic contactor is off if it is installed
between the spindle amplifier and motor.)
(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 pole position to be lost is issued, pole
position detection needs to be performed.
(2) In both the DC current and minute moving modes, the pole position is detected by moving the motor.
For this reason, pole position detection is disabled in the motor locked state. So, perform pole
position detection when the motor can move.
(3) If the precision of pole position detection is poor, the motor output torque is small.
(4) If pole position detection is not completed, all input rotation and move commands are ignored.
However, those commands become valid upon completion of pole position detection. So, if an input
command is left uncleared in the pole position undetected state, the motor abruptly rotates upon
completion of pole position detection, resulting in a dangerous situation. Prepare such a sequence
that commands are input after the pole position determination state signal (F048#7 (EPFIXA)) set to
1 is confirmed.
- 551 -
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08


2.1.2 Overview

Subsection 1.3.4, “Typical Detector Configurations”, in Part IV.


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)
Sets SF signal output and the S code for an S command (T series
- 3705#4 3705#4
only).
Sets SF signal output when constant surface speed control is
- 3705#5 3705#5
exercised 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
- 3744 3744 Maximum spindle speed for gear 4 (T series only)
- 3751 3751
series only)
- 3752 3752
series only)
- 3772 3772 Maximum allowable spindle speed
2003#1 - - Sets an S code polarity.
2204#0 - - Sets the display of an actual spindle speed.
- 552 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 2.EXPLANATION OF OPERATION MODES
Parameter No.
Description
15i 16i 30i
2402#6 - - Sets the S code specified in a block containing G92.
Whether to provide an indication for an alarm detected with the
5602#3 - -
spindle amplifier. (Set “0” usually.)
Number of sampling operations when an average spindle speed is to
5611 - -
be found.
5612 - - Unit of spindle speed output with the DO signal
5807#0 - -
usually.)
Number of gear teeth on the position coder side on velocity control
5847 - 3721
(for feed per revolution, threading, etc.)
Number of gear teeth on the spindle side on velocity control (for feed
5848 - 3722
per revolution, threading, etc.)
5850 - - Spindle number to be selected at power-on/reset time
5820#4 - - Sets the method of spindle speed calculation.
3009#4 4009#4 4009#4
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”.)
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.)
3082 4082 4082 Sets an acceleration/deceleration time.
NOTE
TO DETECTORS”, in Part IV.
“VELOCITY LOOP GAIN ADJUSTMENT”, in Part IV.
- 553 -

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.

(c) For Series 15i
(d) For Series 30i/31i/32i-MODEL B
(e) (d) For Series 0i-MODEL B
15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3006 4006 4006 ALGOVR

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
To use the BiS series spindle motor safely, be sure to connect the
SSM and set SSMUSE to “1”.
15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

LDTOUT Whether to output the load detection signals (LDT1 and LDT2) during
exceeded.

- 554 -
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”.

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

set to 0.
NOTE
15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3352 4352 4352 PKHALW
15i 16i 30i


- 555 -
WARNING
15i 16i 30i

Unit of data : 0.1%

15i 16i 30i

Unit of data : 0.1%

15i 16i 30i


NOTE
If a calculated speed zero detection level exceeds 200 min-1, the
speed zero detection level is clamped to 200 min-1. (9D53 series B
(02) edition or later, 9D70 series A (01) edition or later, 9D80 series
B (02) edition or later, 9D90 series A (01) edition or later, and 9DA0
series A (01) edition or later)
15i 16i 30i

Unit of data : 1%
specified.
- 556 -

LOW (TLMLA) HIGH (TLMHA)
The torque is limited to the value set in
0 1
this parameter.
1 0 The torque is limited to a half of the value
1 1 set in this parameter.
15i 16i 30i

Unit of data : 1%
15i 16i 30i

Unit of data : 1%
15i 16i 30i


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

Unit of data :
- 557 -
15i 16i 30i

Unit of data :
15i 16i 30i


Usually, set 100.
NOTE
proper gear ratio.
15i 16i 30i

Unit of data : 10ms

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
15i 16i 30i

Unit of data : 1sec

- 558 -
NOTE
15i 16i 30i

Unit of data : 10min-1/sec2

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, 9D70 series A
(01) edition or later, 9D80 series B (02) edition or later, 9D90 series A (01) edition
or later, and 9DA0 series A (01) edition or later.
2 If 0 is set, a liner type velocity command is observed when the soft start/stop
- 559 -
For this subsection, see Subsection 2.1.7, “Troubleshooting”, in Part I.


2.2.2 Overview
NOTE
*1 When driving the BiS series spindle (synchronous built-in spindle motor),
parameter No.4084
is used for AMR offset function.(The parameter isn’t the motor voltage for spindle
orientation)
Be sure that if an inappropriate value is set for the AMR offset, the motor may
move unpredictably.
*2 For an explanation of AMR offset function, see Subsection 1.5.3, “AMR Offset
Function”, in Part IV.

Orientation
For this subsection, see Subsection 2.2.3, “Transition from Conventional Method Orientation to Optimum
Orientation”, in Part I.
2.2.4 Feature
2.2.5 Block Diagram


shown below.
(1) When the αiBZ sensor or αiCZ (analog) sensor is used

- 560 -
Spindle+
Built-in motor
JYA2
SP
TYPE B
(2) When the αiCZ (serial) sensor is used


SP
TYPE B
Spindle+
JYA3 circuit
Thermistor

For this subsection, see Subsection 2.2.7, “Stop Position Specification Method”, in Part I.

For this subsection, see Subsection 2.2.8, “I/O Signals (CNC↔PMC)“, in Part I.




- 561 -


Part I.

For this subsection, see Subsection 2.2.15, “Supplementary Descriptions”, in Part I.

2.3.2 Overview

(1) When the αiBZ sensor or αiCZ sensor (analog) is used

Spindle+
Built-in motor
JYA2
SP
TYPE B
- 562 -


SP
TYPE B
Spindle+
JYA3 circuit
Thermistor

2.3.5 Sequence

(c) For Series 15i
(d) For Series 0i

Parameter No.
Description
15i 16i 16i
5202#0 Whether to perform orientation (reference position return) when starting
5606#6 5202#0
(M series only) rigid tapping
3706#1,#0
3707#1,#0
- 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
- 563 -
Parameter No.
Description
15i 16i 16i
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
3065 to 5280 5280 Position gain of tapping axis at rigid tapping (16i/30i: No. 5284 is used
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 - -
Spindle speed for determining an acceleration value for cutting feed on
5886 - -
rigid tapping
5889 - -
5892 - -
5605#2
5261 5261
5751
5262 5262 Acc./Dec. time constant (16i/30i: No. 5264 is used for the T series
5886
5263 5263 only.)
5889
5264 5264
5892
5605#2
- -
5752
- -
5885 FL speed for spindle and drilling axis acceleration/deceleration on rigid
- -
5888 tapping
- -
5891
- -
5894
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
5310
5341
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
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
Velocity loop proportional gain on servo mode/spindle synchronous
3044 4044 4044
control
3045 4045 4045
3052 4052 4052 Velocity loop integral gain on servo mode/spindle synchronous control
3053 4053 4053 (It is selected by input signal CTH1A/B.)
- 564 -
Parameter No.
Description
15i 16i 16i
3056 to Gear ratio between spindle and motor
4056 to 4059 4056 to 4059
3065 to Spindle position gain on servo mode/spindle synchronous control
4065 to 4068 4065 to 4068
Position gain change ratio at reference position return time on servo
3091 4091 4091
mode
Acceleration/deceleration time constant for Cs contouring control/servo
3406 4406 4406
mode
NOTE

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

(c) For Series 15i
(d) For Series 0i
15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3000 4000 4000 RETSV
direction.
15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3002 4002 4002 SVMDRT
- 565 -
0: Enables the rotation direction function.

G70) = 1.
G70) = 1.
1: Disables the rotation direction function.
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 :
This parameter sets a velocity loop feed-forward coefficient for using feed-forward
control. Set the result of calculation of the following expression:
Setting = 214466 ×
15i 16i 30i

3044 4044 4044 (HIGH) CTH1A=0

3045 4045 4045
(LOW) CTH1A=1
Unit of data :
- 566 -
15i 16i 30i

3052 4052 4052 CTH1A=0

3053 4053 4053 CTH1A=1
Unit of data :
15i 16i 30i


These data are used to set the gear ratio between spindle and spindle motor. Usually, set
100.
NOTE
proper gear ratio.
15i 16i 30i

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


3068 4068 4068 CTH1A=1, CTH2A=1

spindle synchronous control. A parameter is selected according to the input signals
CTH1A and CTH2A.
15i 16i 30i

- 567 -

positioning).
number of pulses.
15i 16i 30i


• When 0 is set
The orientation speed is the reference position return speed in servo mode (rigid
The value set in this parameter is used as a reference position return speed on servo
15i 16i 30i

Unit of data : 1%
NOTE
15i 16i 30i


Valid data range : 0~10000
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.
15i 16i 30i

3406 4406 4406 Acceleration/deceleration time constant for reference position return on Cs

- 568 -
This parameter sets a reference position return acceleration for Cs contouring control or
Reference
position return
speed-1
(min )
parameter parameter
No. 4406 No. 4406
(msec) (msec)
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)

For this subsection, see Subsection 2.3.9, “Parameter Setting Procedure”, in Part I.

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.)
5261 to 5264
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)

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.
- 569 -
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: 4096
d-06 d-10 0 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
NOTE
When observing the synchronous error of Series 16i, set the following
parameters:
No. 3700, #7 = 1:
Uses the synchronous error output (maintenance function).
No. 5203, #7 = 1 :
Sets a synchronous error update cycle.
No. 5204, #0 = 0 :
Displays the synchronous error on the diagnosis screen.

(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.
- 570 -
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.
(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
- 571 -
(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

-1 -1
2048 min /div 2048 min /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

2048 min-1 / div 2048 min-1 / div
(3)-5Checking 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
- 572 -

2.3.11 Alarm

2.4.2 Overview

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

Spindle+
Built-in motor
JYA2
SP
TYPE B


SP
TYPE B
Spindle+
JYA3 circuit
Thermistor
- 573 -
NOTE
In a configuration in which the αiCZ sensor (serial) is used as the motor sensor, if
Cs contouring control is to be performed immediately after the power is turned on,
use spindle software 9D80 series H (08) edition or later, 9D90 series A (01)
edition or later, and 9DA0 series A (01) edition or later.



Control Mode
For this subsection, see Subsection 2.4.6, “Velocity Loop Gains Override Function on Cs Contouring
Control Mode”, in Part I.

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#0 1006#0 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”.)
- 574 -
Parameter No.
Description
15i 16i 30i
3900 3900
3910 3910
Servo axis number subject to interpolation with the Cs contouring control
- 3920 3920
axis
3930 3930
3940 3940
3901 to 3901 to
3904 3904
3911 to 3911 to
3914 3914
3921 to 3921 to Position gain of a servo axis subject to interpolation with the Cs
-
3924 3924 contouring control axis
3931 to 3931 to
3934 3934
3941 to 3941 to
3944 3944
5843 - - Number of pulses of position detector for Cs contouring control
Spindle rotation direction for a positive motion command on Cs
3000#1 4000#1 4000#1
Direction of reference position return when the system enters Cs
3000#3 4000#3 4000#3
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
3046 4046 4046 Velocity loop proportional gain on Cs contouring control mode
3054 4054 4054 Velocity loop integral gain on Cs contouring control mode
Spindle-to-motor gear ratio
4056 to 4056 to
3056 to 3059 (A parameter is selected by the CTH1A and CTH2A input signals sent
4059 4059
from the PMC.)
4069 to 4069 to Position gain for axes subject to Cs contouring control
3069 to 3072
4072 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)
3135 4135 4135 Grid shift on Cs contouring control mode
3162 4162 4162 Velocity loop integral gain for cutting feed on Cs contouring control
3342 4342 4342 Velocity loop gain override in Cs contouring control.
3343 4343 4343 (These parameters are selected by the input signal CTH1A of PMC.)
- 4353#5 4353#5 Sets the Cs axis position data transfer function.
Acceleration/deceleration time constant at return to the reference position
3406 4406 4406
in Cs contouring control/servo mode
- 575 -
NOTE

for 30i, and in the three thousands for 15i) among the parameters related to Cs contouring control. For

(c) For Series 15i
(d) For Series 0i
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)
rotates in the CCW direction.
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).
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
(a) The spindle rotates counterclockwise when input signal SFR(G70#5) is set
to 1.
(b) Tithe spindle rotates clockwise when input signal SRV(G70#4) is set to 1.
- 576 -
(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.
SFR/SRV = 1, the spindle rotates in the CCW direction.
SFR/SRV = 1, the spindle rotates in the CW direction.
15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3005 4005 4005 CS360M
CS360M Sets the detection unit for Cs contouring control.

0 : 0.001°
1 : 0.0001°
Set 0 usually. When a αiCZ sensor (analog, serial) 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 : Does not use the smoothing function.
1 : Uses the smoothing function.
This bit specifies whether to use the smoothing function under feed-forward control on
15i 16i 30i

3021 4021 4021 Maximum speed on Cs contouring control mode

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

Unit of data : 1%
Set the feed-forward coefficient when feed-forward control is executed on Cs contouring
control.
- 577 -
15i 16i 30
Unit of data :
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:
Setting = 214466 ×
15i 16i 30i

Unit of data :
These parameters specify the proportional gains of the velocity loop on Cs contouring
control mode.
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 :
These parameters specify the integral gains of the velocity loop for Cs contouring control
mode.
15i 16i 30i


Usually, set 100.
- 578 -
NOTE
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

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

• 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.
The value set in this parameter is used as a reference position return speed on Cs
contouring control.
NOTE
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%
This parameter specifies a rate of change in the position gain used for reference position
return on Cs contouring control mode.
- 579 -
NOTE
15i 16i 30i

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


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)
(When parameter No. 4005 #0 (CS360M) is 1, -3,600,000 to +3,600,000)
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 :
These parameters set a velocity loop integral gain for cutting feed (G01, G02, G03) on Cs
contouring control.
- 580 -
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

3342 4342 4342 Velocity loop gain override in Cs contouring control (HIGH) CTH1A=0
3343 4343 4343 Velocity loop gain override in Cs contouring control (LOW) CTH1A=1
Unit of data : 1%
These parameters specify override of velocity loop proportional gain and integral gain for
If the set value is "0", it is treated as "100".
NOTE
9D53 series J (10) edition or later
9D80 series C (03) edition or later.
15i 16i 30i


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
9D80 series B (02) edition or later.
- 581 -
15i 16i
3406 4406 Acceleration/deceleration time constant for Cs contouring control/servo mode

This parameter set the reference position return acceleration for Cs contouring control or
Reference
position return
speed
(min-1)
parameter No. parameter No.
4406 4406
(msec) (msec)
NOTE
follows.
2.4.9 Adjusting Cs Contouring Control

For this subsection, see Subsection 2.4.9, "Adjusting CS Contour Control", in Part I.

2.4.11 Alarm

FUNCTION)

- 582 -
2.5.2 Overview

below.

1st spindle
CNC
Spindle +
Built-in motor
JA7B
JYA2
SP
TYPE B
JA7A
2nd spindle
Spindle +
Built-in motor
JA7B
JYA2
SP
TYPE B
- 583 -
CNC
1st spindle
JA7B

SP
TYPE B
Spindle +
JYA3
JA7A circuit
Thermistor
2nd spindle
JA7B

TYPE B
Spindle +
Detection
JYA3 Built-in motor
circuit
Thermistor



- 584 -

Parameter No.
Description
16i 30i
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
Direction of rotation of each spindle motor while spindle synchronous control is
- 4801#0
applied
Error pulse difference between the two spindles for which to output the spindle phase
4810 4810
synchronous control completion signal
Error pulse difference between the two spindles for which to output the phase
4811 4811
synchronous error monitor signal (SYCAL)
4002#6 4002#6
synchronous control
4006#3 4006#3
4032 4032
4035 4035 Compensation data for spindle phase synchronization
4044 4044 Velocity loop proportional gain for spindle synchronous control
4052 4052 Velocity loop integral gain for spindle synchronous control
Spindle-to-motor gear ratio data
4056 to 4059 4056 to 4059
4065 to 4068 4065 to 4068 (The same value must be specified for both the 1st and 2nd spindles.)
4336 4336 constant used for spindle synchronous control
4340 4340
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

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.
- 585 -

(c) For Series 0i
16i 30 #7 #6 #5 #4 #3 #2 #1 #0
4002 4002 SYCDRT
synchronous control
(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.
(counterclockwise) direction when the input signal SFR = 1 or SRV = 1.
16i 30i #7 #6 #5 #4 #3 #2 #1 #0

0 : 1/100 unit
1 : 1/1000 unit
rotation
spindle rotation
Parameter No.
Description
16i 30i
NOTE
set to 1).
SYCREF Setting for function performing automatic detection of the one-rotation signal on spindle
synchronous control
- 586 -

synchronization is not carried out)
When this parameter is set to “1”, check that the one-rotation signal has been detected for
16i 30i

This parameter sets an acceleration value for linear acceleration/deceleration when the
synchronous speed command for spindle synchronous control is changed.
NOTE
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

16i 30i

Sets the shift amount from the reference position (one-rotation signal) at spindle phase
- 587 -
16i 30i

alignment.
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 :
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 :
16i 30i

Usually, set 100.
- 588 -
NOTE
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

16i 30i
Unit of data 1min-1

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
guaranteed.
2 When this parameter is set to 0, linear acceleration/deceleration
(constant acceleration) is performed.
16i 30i
4340 4340 control

This parameter sets a bell-shaped acceleration/deceleration time constant for spindle
This parameter is applied to the move command after “Acceleration at spindle
synchronous control” (parameter No. 4032) is applied.
- 589 -
NOTE
guaranteed.
16i 30i
Unit of data :
Set this parameter to use incomplete integration for velocity loop integration control.
NOTE
16i 30i
Excessive speed deviation alarm detection level on spindle synchronous
4515 4515 control

This parameter sets a level for detecting the excessive speed deviation alarm under
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 (spindle 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 ratio (No.4056 to 4059)
- 590 -
NOTE
9D70 series D (04) edition or later, and 9D80 series B (02) 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)

This parameter sets a level for detecting the excessive positional deviation alarm under
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 (spindle 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
9D70 series D (04) edition or later, and 9D80 series B (02) edition
or later.

For this subsection, see Subsection 2.5.10, “Number of Error Pulses in Spindle Synchronous Control”, in
Part I.

Control

2.5.12 Alarm
- 591 -
2.6.1 Overview

This subsection provides a list of the I/O signals related to spindle speed control only. For details of each

(c) For Series 15i
(d) For Series 0i
Part IV.

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

NOTE
- 592 -
(b) Series 30i

#7 #6 #5 #4 #3 #2 #1 #0
(*1) (*1) (*1) (*1)

NOTE
(c) Series 15i

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


(d) Common to CNCs

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

1st- G228 G073 G073 EPFSTRA DSCNA MPOFA

2nd- G236 G077 G077 EPFSTRB DSCNB MPOFB
- 593 -

(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)
F037 R12O R11O R10O R09O
NOTE
(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)
F037 R12O R11O R10O R09O
NOTE
- 594 -
(c) Series 15i

#7 #6 #5 #4 #3 #2 #1 #0
1st- F341 SRRDYA

2nd- F342 SRRDYB
(d) Common to CNCs

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
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
2.6.3 Parameters
This subsection describes those parameters that are common to all operation modes by dividing them into
several types.
NOTE
- 595 -
(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 BiS160L4/6000)
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.
3080 4080 4080 Limits regenerative power.
Current step selection/activation current ratio/stop confirmation time in
3083 4083 4083
magnetic pole detection
3084 4084 4084 AMR offset
3085 4085 4085 AMR offset fine adjustment
3086 4086 4086 Inductance ratio
3102 4102 4102 Base speed at maximum load
3103 4103 4103 Magnetic flux reduction start speed / Current pattern switching speed
3108 4108 4108 Current loop integral gain zero speed
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
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
3130 4130 4130 Current phase delay compensation constant

- 596 -
Parameter No.
Description
15i 16i 30i
Motor power turn-off method when spindle alarm 24 (serial data transfer error) is
3009#2 4009#2 4009#2
issued
3399#5 4399#5 4399#5 Whether to detect magnetic pole position count miss alarm (spindle alarm 91)
3463 4463 4463 Unexpected rotation detection level (spindle Alarm 90)
3464 4464 4464 Velocity command-dependent over speed (spindle alarm 92) detection offset
level

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.)
5850 - - Spindle number selected at power-on/reset time
3009#0 4009#0 4009#0 Velocity loop gain increment system
3009#4 4009#4 4009#4
3012#6 4012#6 4012#6 Sets whether to drive the synchronous built-in spindle motor.
3019#2 4019#2 4019#2 Whether to perform torque clamping when the speed is zero
3395#3 4395#3 4395#3 Sets parameter transfer from the CNC to spindle software.
3059 4059 4059 Gear ratio (Low)
- 597 -
Parameter No.
Description
15i 16i 30i
3345 4345 4345 Detection level of the spindle motor speed command
2.6.4 Details of Parameters


(c) For Series 15i
(d) For Series 0i

Usually, the settings of the motor parameters specific to synchronous built-in spindle motor driving need
not be changed. Their details are omitted.

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

3009 4009 4009 ALSP
alarm is issued
15i 16i 30i

Unit of data : 1%
This parameter sets an overspeed level.
When the speed exceeds [maximum motor speed (No. 4020) × setting data (%)], the
overspeed alarm (spindle alarm 07) is issued.
- 598 -
WARNING
Make sure this parameter is set to the standard setting value. Do
not change the value.
15i 16i 30i


motor is bound.
15i 16i 30i

Unit of data : 0.1%

15i 16i 30i

Unit of data : 1%
29).
[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 (spindle alarm 29) is
issued.
15i 16i 30i

Unit of data : 1sec

29).
- 599 -
15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3399 4399 4399 NCHAMR
NCHAMR Determines whether to detect “pole position count miss alarm (spindle alarm
91)”.
0: Detect alarm 91.
1: Does not detect alarm 91.
When the one-rotation signal is detected, this function monitors the difference between
the initial magnetic pole position estimated by magnetic pole detection and AMR offset
(parameter No. 4084). If the parameter-set threshold is exceeded, alarm 91 is detected.
NOTE
1 When the αiCZ sensor (serial) is used, this function cannot be used.
2 This function is valid after executing AMR offset. Therefore,
following parameters are needed to be set.
No.4008#6 = “0 (AMR offset is valid)”
No.4084 = “An adjustment value”
3 The magnetic pole undetected state (EPFIX: F048#7) is reset to 0 if
spindle alarm 91 is issued.
4 This parameter is valid with
15i 16i 30i

3463 4463 4463 Unexpected rotation detection level
Unit of data : 0.1rev

Valid data range : -1, 0~500
This parameter specifies the unexpected rotation detection level (Alarm 90 level).
When the sign of unexpected rotation is once detected, spindle amplifier (SP) begins to
sum the velocity error. When the motor rotates normally, Sp subtracts the velocity error
from the summation. If the parameter-set threshold is exceeded, alarm 90 is detected.
When “0” is set, 1.0rev is set internally.
- 600 -
NOTE
*1 The magnetic pole undetected state (EPFIX: F048#7) is reset to 0 if
*2 This parameter is valid with
15i 16i 30i

3464 4464 4464 Velocity command-dependent over speed detection offset level
Unit of data : 0.1%

Valid data range : -1, 0~500
This parameter sets the offset speed level for detecting the over speed (spindle alarm 92)
according to the velocity command.
When the spindle motor reaches the velocity command plus the maximum motor speed
(No. 4020) × setting data% the velocity command-dependent over speed alarm (spindle
alarm 92) is issued. This detection level is automatically updated if the velocity command
increases or changes to 0 or if control mode (such as speed mode or orientation mode)
changes.
If the setting is "0", the offset level is 15%.
NOTE
*1 The magnetic pole undetected state (EPFIX: F048#7) is reset to 0 if
*2 This parameter is valid with
15i 16i 30i

Unit of data : If the setting is positive, 1 min-1

(When bit 2 (SPDUNT) of parameter No. 4006 is 1, 10 min-1)
If the setting is negative: 0.1%
Valid data range : -1000~32767
This parameter sets the alarm level for excessive speed deviation alarms (spindle alarms
02 and 31) in units of 1 min-1 (motor speed) or as a ratio to the motor velocity command.
Depending on the setting of this parameter, the alarm level (min-1) for the excessive speed
deviation alarms is as follows:
- If the setting is positive: Setting of parameter No. 4465 (min-1)
- 601 -
- If the setting is negative: |Velocity command × Setting of parameter No. 4465/1000|

(min-1)
If the setting is "0", this parameter is excluded from the excessive speed deviation alarm
detection conditions.
NOTE
15i 16i 30i


This parameter sets the period from the time the motor speed deviation exceeds the alarm
level of the excessive speed deviation alarm set in parameter No. 4465 until an excessive
speed deviation alarm (spindle alarm 02 or 31) is issued.
If the motor speed deviation goes below the alarm level within the period of time set in
this parameter, the period of time is reset.
NOTE
15i 16i 30i

Unit of data : 1K
This parameter sets the difference between motor overheat alarm detection temperature
and the warning detection temperature. If the parameter setting is 0, the spindle motor
overheat warning function is disabled.
While the motor temperature exceeds the warning detection temperature, the motor
overheat warning (warning number 01) is issued.
Spindle alarm 01 detection level

Warning detection level
(No.4134)
Motor temperature
Parameter No.4527
- 602 -

and (2) above.
15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3001 4001 4001 MRDY1

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

3006 4006 4006 GRUNIT

0 : 1/100 unit
1 : 1/1000 unit
rotation
spindle rotation
Parameter No.
Description
15i 16i 30i
NOTE
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
15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3012 4012 4012 SPHRV SYSP
- 603 -
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.

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


NOTE

set to 0.
NOTE
15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0

3352 4352 4352 PKHALW
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.
- 604 -
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,
9D70 series A (01) edition or later, 9D80 series B (02) edition or
edition or later.
15i 16i 30i


15i 16i 30i

Unit of data : 0.1%

15i 16i 30i

Unit of data : 0.1%

15i 16i 30i


- 605 -
NOTE
If the calculated speed zero detection level exceeds 200 min-1, it is
clamped at 200 min-1. (9D53 series B (02) edition or later, 9D70
series A (01) edition or later, 9D80 series B (02) edition or later,
9D90 series A (01) edition or later, and 9DA0 series A (01) edition
or later)
15i 16i 30i

Unit of data : 1%
specified.

LOW (TLMLA) HIGH (TLMHA)
The torque is limited to the value set in this
0 1
parameter.
1 1 parameter.
15i 16i 30i

Unit of data : 1%
15i 16i 30i

Unit of data : 1%
15i 16i 30i

- 606 -

Example :
input signals.
NOTE
proper gear ratio.
15i 16i 30i

Unit of data : 0.1%

Set this parameter when making a fine adjustment of speedometer output voltage.
NOTE
15i 16i 30i

Unit of data : 0.1%

Set this parameter when making a fine adjustment of load meter output voltage.
NOTE
15i 16i 30i


This parameter sets a time constant for a filter to be applied to the velocity feedback
signal.
NOTE
- 607 -
15i 16i 30i

Unit of data :
NOTE
15i 16i 30i

3345 4345 4345 Specified detection level of the spindle motor speed
Unit of data : 1 min-1

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

Unit of data :
Set this parameter to use incomplete integral function for velocity loop integral control.
NOTE
15i 16i 30i

Unit of data :
Valid data range : 0 to ±32767
NOTE

- 608 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 3.I/O SIGNALS (CNC↔PMC)

via the CNC and the signals directly output from the spindle amplifier (SP) to PMC. For other
spindle-related I/O signals, refer to the Connection Manual (Function) of the relevant CNC.

(c) For Series 15i
(d) For Series 0i
WARNING
1 Operation of each signal described in this chapter is not guaranteed if an alarm
is issued or if a hardware failure or abnormal operation occurs.
2 A signal described in this chapter can be used as a safety function only when it
is described that “the signal can be used as a safety function”.
CAUTION
Each signal described in this chapter is disabled and its operation is not
guaranteed after power-on until the parameters have been transferred from the
CNC to the spindle amplifier. After checking spindle operation ready signal
SRSRDY and other signals (refer to the Connection Manual for the relevant
CNC) to see the ready status, use the signals described in this chapter.
3.1 INPUT SIGNALS (PMC→CNC→SP)

via the CNC and the address for signals of the first spindle or second spindle. For other spindle-related
input signals, refer to the Connection Manual (Function) of the relevant CNC.

(c) For Series 15i
(d) For Series 0i
- 609 -
3.I/O SIGNALS (CNC↔PMC) FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G226 G071 G071 INTGA SOCNA *ESPA ARSTA

2nd- G234 G075 G075 INTGB SOCNB *ESPB ARSTB

1st- G228 G073 G073 EPFSTRA DSCNA SORSLA MPOFA

2nd- G236 G077 G077 EPFSTRB DSCNB SORSLB MPOFB

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.

Torque limitation These signals limit the output torque of the spindle motor.
TLMLA, B
command LOW The limit value is set in spindle parameter No. 4025.
TLML TLMH
0 0 : Torque not limited
Torque limitation
TLMHA, B 0 1 : Limited to the parameter-set value
command HIGH
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.
MRDYA, B Machine ready signal
1: Ready for operation
- 610 -

This signal is used to reset spindle alarms.
32 msec min.
Spindle alarm reset
ARSTA, B signal
“1”
“0” An alarm is reset when the signal status changes from
“1” to “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.
“1”
Orientation stop “0”
position change This signal is used in orientation with the stop position set external setting
INDXA, B
command type. When the status of this signal changes from “1” to “0”, new position stop
data is input, and a 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
command at type.
ROTAA, B
orientation stop 0: CCW (counterclockwise)
position change 1: CW (clockwise)
This signal is used in orientation with the stop position set external setting
Shortcut command at
type.
NRROA, B orientation stop
0: The rotation direction depends on the ROTA signal setting.
position 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
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
Disconnection
motor. This signal is disabled in the excitation ON state.
DSCNA, B detection disable
0: Enables disconnection and overheat detection.
signal
1: Disables disconnection and overheat detection.
Magnetic pole Signal for starting magnetic pole detection operation
EPFSTRA, B detection operation 0: Cancels magnetic pole detection operation.
start signal 1: Requests magnetic pole detection operation.

(a) Torque limitation command signals (TLMLA, TLMHA)
For details of these signals, see Subsection 3.1.2, “Explanation of Input Signals”, in Part I.

- 611 -
(c) Forward rotation command signal (SFRA) and reverse rotation command
signal (SRVA)
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 this signal, see also Section 1.5, “MAGNETIC POLE DETECTION”, in Part IV.
(f) Spindle alarm reset signal (ARSTA)

(g) Emergency stop signal (*ESPA)

For this signal, see also Section 1.5, “MAGNETIC POLE DETECTION”, in Part IV.
(h) Soft start/stop signal (SOCNA)

(i) Velocity integral control signal (INTGA)

(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
(k) Spindle analog override command (OVRA)

(l) Motor power turn-off signal (MPOFA)
NOTE
Some specifications of this signal differ from those with an inductive spindle
motor.
Some specifications of this signal differ from those with an inductive spindle motor, so carefully set this
signal for the sub module SM and magnetic pole detection. See Sections 1.4, “SUB MODULE SM,” and
1.5, “MAGNETIC POLE DETECTION,” in Part IV.
(m) Synchronous orientation request command (SORSLA)

- 612 -
(n) Disconnection detection disable signal (DSCNA)
NOTE
1 When the dual check safety function is enabled, this signal is disabled.
2 When the αiCZ sensor (serial) is used, this function cannot be used.
3 The specifications of this signal partly differ from the specifications for the
inductive spindle motor. This signal is disabled in the excitation ON state.
(1) This signal is used when the connection between the spindle amplifier and spindle motor needs to be
disconnected temporarily.
SP
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 (spindle 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 (spindle 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.
(7) Sample sequence (for the synchronous built-in spindle motor)
- 613 -
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.
3.2 OUTPUT SIGNALS (SP→CNC→PMC)

This section explains the functions of the signals directly output from the spindle amplifier (SP) to PMC
via the CNC. For other spindle-related output signals, refer to the Connection Manual (Function) of the
relevant CNC.

(c) For Series 15i
(d) For Series 0i
- 614 -

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

1st- F230 F048 F048 EPFIXA CSPENA SSMBRKA

2nd- F246 F052 F052 EPFIXB CSPENB SSMBRKB

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.

This signal is output when a spindle alarm is issued.
ALMA, B Alarm signal 0: Normal state
1: Alarm state
Zero speed detection decreased to the zero speed detection level or lower.
SSTA, B
signal 0: Rotating
1: Zero speed state
decreased to a predetermined rotation speed or lower.
SDTA, B Speed detection signal
0: Above predetermined speed
1: Predetermined speed or lower
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
detected. Different levels can be set for LDT1A and LDT2A.
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 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
- 615 -

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.
This signal is used to confirm whether synchronous orientation is enabled or
Synchronous
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
This signal is used to check the error state of the sub module SM (SSM).
SSMBRKA, Sub module SM (SSM)
0: The SSM is normal.
B error state signal
1: The SSM is abnormal.
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
CSPENA, B establishment state
position 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
Magnetic pole not.
EPFIXA, B
detection state signal 0: Magnetic pole detection is not completed.
1: Magnetic pole detection is completed.

(a) Spindle alarm signal (ALMA)
(b) Zero speed detection signal (SSTA)

CAUTION

CAUTION
(d) Speed arrival signal (SARA)

- 616 -
(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)

(g) Orientation completion signal (ORARA)

in Part I.
(h) Position coder one-rotation signal detection state signal (PC1DTA)

(i) Incremental orientation signal (INCSTA)

For details of this signal, see Section 5.3, “INCRMENTAL COMMAND TYPE SPINDLE
(j) Synchronous orientation enable signal (SORENA)

(k) Motor excitation off state signal (EXOFA)

For details of this signal, see Subsection 3.1.3(p), “Disconnection detection disable signal (DSCNA)”, 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)

(n) Magnetic pole detection state signal (EPFIXA)

For details of this signal, see Section 1.5, “MAGNETIC POLE DETECTION”, in Part IV.
- 617 -
4.ADJUSTMENT FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
4 ADJUSTMENT
4.1.1 Overview
4.1.2 Parameters


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 Resonance Elimination Filter

For this subsection, see Subsection 4.2.2, “Resonance Elimination Filter”, in Part I.
※When the resonance elimination filter disable signal is used, the following spindle and CNC software
products must be used.
Spindle software
9D80 H (08) edition or later
- 618 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 4.ADJUSTMENT
CNC software (Resonance elimination filter disable signal supported)

B0H1 K (11) edition or later FANUC Series 16i /160i /160is-MB
BDH1 K (11) edition or later FANUC Series 18i /180i /180is-MB
BDH5 B (02) edition or later FANUC Series 18i /180i /180is-MB5
DDH1 K (11) edition or later FANUC Series 21i /210i /210is-MB
B1H1 K (11) edition or later FANUC Series 16i /160i /160is-TB
BEH1 K (11) edition or later FANUC Series 18i /180i /180is-TB
DEH1 K (11) edition or later FANUC Series 21i /210i /210is-TB
G002/G012/
W (23) edition or later
G022/G032
G003/G013/
F (06) edition or later
G023/G033
FANUC Series 31i /310i /310is-A5
G201 W (23) edition or later
G203 F (06) edition or later
4.2.3 Disturbance Input Function

For this subsection, see Subsection 4.2.3, “Disturbance Input Function”, in Part I.
4.2.4 Adaptive Resonance Elimination Filter

For this subsection, see Subsection 4.2.4, "Adaptive Resonance Elimination Filter", 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.
- 619 -
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
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


FUNCTION)
5.3.1 Overview

Spindle software
9D70 A (01) FS30i / FS31i / FS32i
9D80 B (02) FS16i / FS18i / FS21i , FS0i , FS15i , FS30i / FS31i / FS32i
9DA0 A (01) FS30i / FS31i / FS32i -B

configuration.
- 620 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 5.FUNCTION DESCRIPTIONS

Spindle+
Built-in motor
JYA2
SP
TYPE B

SP
TYPE B
Spindle+
JYA3 circuit
Thermistor

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


For this item, see Subsection 5.3.4(2), “Details of input signals (PMC→CNC)”, in Part I.
- 621 -

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

For this item, see Subsection 5.3.4(4), “Details of output signals (CNC→PMC)”, in Part I.


Parameter No.
Description
15i 16i 30i
3015 #0 4015 #0 4015 #0
5609#2 3702#3,#2 3702#3,#2 available (to be set to “1”)
3328 4328 4328 Command multiplier for incremental command external setting data
NOTE


FUNCTION)
5.4.1 Overview
- 622 -
NOTE
1 For the BiS series spindle (synchronous built-in spindle motor),
Parameter No. 4084
is used for the AMR offset function (not for the motor voltage on orientation).
If an inappropriate value is set for the AMR offset, the motor may move
unpredictably.
2 For AMR offset function, see Subsection 1.5.3, “AMR Offset Function”, in Part IV.

Spindle software
9D70 A (01) FS30i / FS31i / FS32i
9DA0 A (01) FS30i / FS31i / FS32i -B

Explained below is a system configuration in which the conventional method orientation function is
usable.

Spindle+
Built-in motor
JYA2
SP
TYPE B

SP
TYPE B
Spindle+
JYA3 circuit
Thermistor
- 623 -

Section 5.3, “INCREMENTAL COMMAND TYPE SPINDLE ORIENTATION” , in Part I.
5.4.5 Sequence



Part I.

For this subsection, see Subsection 5.4.9, “Calculating the Position Gain for Orientation”, in Part I.

For this subsection, see Subsection 5.4.10, “Calculating the Orientation Time”, in Part I.
5.5 SPINDLE ORIENTATION DURING SPINDLE

SYNCHRONOUS CONTROL (OPTIONAL FUNCTION)
5.5.1 Overview

Spindle software
9D53 B (02) FS16i / FS18i / FS21i , FS0i
9D70 A (01) FS30i / FS31i / FS32i
FS16i / FS18i / FS21i , FS0i ,
9D80 B (02)
FS30i / FS31i / FS32i
9DA0 A (01) FS30i / FS31i / FS32i -B
- 624 -
5.5.3 Specification
For this subsection, see Subsection 5.5.3, “Specification”, in Part I.

(a) For path 1
16i 30i #7 #6 #5 #4 #3 #2 #1 #0

(b) For path 2

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



(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 Subsection
5.5.4(2), “Details of input signals (PMC→CNC)”, in Part I.
- 625 -

(a) For path 1
16i 30i #7 #6 #5 #4 #3 #2 #1 #0
(b) For path 2

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

(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 Subsection 5.5.4 (4), “Details of
output signals (CNC→PMC)”, in Part I.
5.5.5 Sequence

Parameter No.
Description
16i 30i
Direction in which each of spindles rotates under spindle synchronous control
4800#1,#0 4801#0
4810 4810
synchronous completion signal is output
4811 4811
synchronous error monitor signal is output
3702#3,#2 3729#0 available
Setting for disabling automatic detection of a one-rotation signal when the spindle
4006#4 4006#4
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 same
4032 4032
value for the first and second spindles.)
- 626 -
Parameter No.
Description
16i 30i
4056 to Gear ratio data between spindle and motor
4056 to 4059
4059 (These parameters are selected with the input signals CTH1A and CTH2A.)
Position gain on spindle synchronous control (It is necessary to specify the same
4065 to
4065 to 4068 value for the first and second spindles.)
4068
(These parameters are selected with the input signals CTH1A and CTH2A.)
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.)
4340 4340
control (It is necessary to specify the same value for the first and second spindles.)
NOTE
1 See Section 1.3, “PARAMETERS RELATED TO DETECTORS”, in Part IV for
2 See Section 4.1, “VELOCITY LOOP GAIN ADJUSTMENT”, in Part IV for velocity
3 See “Function Description: Spindle Synchronous Control” for parameters related
to the spindle synchronous control function.

5.6.1 Overview

Spindle software
9D53 B (02) edition or later
CNC software
B0H1 M (13) edition or later For the FANUC Series 16i/160i/160is-MB
BDH1 M (13) edition or later For the FANUC Series 18i/180i/180is-MB
BDH5 C (03) edition or later For the FANUC Series 18i/180i/180is-MB5
DDH1 M (13) edition or later For the FANUC Series 21i/210i/210is-MB
B1H1 M (13) edition or later For the FANUC Series 16i/160i/160is-TB
BEH1 M (13) edition or later For the FANUC Series 18i/180i/180is-TB
DEH1 M (13) edition or later For the FANUC Series 21i/210i/210is-TB
- 627 -
5.6.3 Block Diagram

5.6.4 Parameters

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.

5.7.1 Overview

Spindle software
9D53 E (05) FS16i / FS18i / FS21i , FS0i , FS15i
9D70 D (04) FS30i / FS31i / FS32i
9DA0 A (01) FS30i / FS31i / FS32i -B

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
- 628 -

(ABTSP1 and AQSP1)
(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)
Refer to an applicable CNC Connection Manual (Function) for details.

(b) For Series 15i
(c) For Series 30i/31i/32i
(d) For Series 0i
(f) For Series 0i-D

Parameter No.
Description
15i 16i 30i
Whether the unexpected disturbance torque detection function is
3015 #1 4015 #1 4015 #1 available
3248 4248 4248 Torque constant for spindle load torque monitoring


For this subsection, see Subsection 5.7.6, “Parameter Tuning Procedure”, in Part I.
- 629 -
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.
NOTE
1 Using this function requires the CNC software option.
2 Using this function requires SP TYPE B for both the master and slave axes.
edition.
4 This function cannot be used together with the spindle fine Acc./Dec. (FAD)
function.
5 This function cannot be used together with the spindle tandem control function.
6 This function cannot be used with the FANUC Series 15i-MODEL B.
7 This function cannot be used with the FANUC Series 32i.
8 There are no limitations on the assignment of the master and slave axes.
For descriptive purposes, this specification assumes:

Spindle software
9DA0 B (02) FS30i / FS31i / FS32i -B
NOTE
- 630 -
CNC software
B0H1 A (01) edition or later For FANUC Series 16i/160i/160is-MB
BDH1 A (01) edition or later For FANUC Series 18i/180i/180is-MB
BDH5 A (01) edition or later For FANUC Series 18i/180i/180is-MB5
G003/G013/
G023/G033/
28 edition or later
G00C/G01C
For FANUC Series 30i/300i /300is-A
G02C/G03C
G004/G014
01 edition or later
G024/G034
G123/G133
28 edition or later
G12C/G13C For FANUC Series 31i/310i /310is-A5
For FANUC Series 31i/310i /310is-A

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
SP
TYPE B
JA7A
JX4
Speed/position
sensor
SPM-to-SPM
communication Built-in spindle motor
JX4
JA7B JYA2
SP
TYPE B
Second axis
(slave axis)
NOTE
When using the αiCZ sensor (serial) as the motor sensor, connect the feedback
cable to JYA3.
- 631 -

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.
0,0,1 αiMZ/αiBZ/αiCZ sensor (analog)
4010#2,#1,#0
0,1,1 αiCZ sensor (serial)
or 4334 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 the
4386 (*) Setting for the number of master-axis motor sensor (speed sensor) teeth
sensor.
5.8.4 Block Diagram


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.

FANUC Series 16i/18i/21i-MODEL B
Connection Manual (Function): B-63523EN-1

#7 #6 #5 #4 #3 #2 #1 #0
G066 RTRCT

#7 #6 #5 #4 #3 #2 #1 #0
F065 SYNMOD RTRCTF
- 632 -

Refer to an applicable CNC Connection Manual (Function) for spindle EGB sequences.

FANUC Series 16i/18i/21i-MODEL B

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 axis (master
7772 axis)
The number of pulses the position sensor generates at each rotation of the workpiece axis
7773 (slave axis)
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 feed for each
8028
axis in PMC-based axis control
Number of pulses the position sensor generates at each rotation of the spindle on a
8040 PMC-controlled axis
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
4396#2 Setting for on-off switching of the EGB command in the Cs contouring control mode
- 633 -
NOTE
1 See Section 1.3, “PARAMETERS RELATED TO DETECTORS” in Part IV for
2 See Section 4.1, “VELOCITY LOOP GAIN ADJUSTMENT”, in Part IV for velocity

5.8.9 Diagnosis Signal Related to Spindle EGB

Address
Description Unit
16i
0717 Synchronous error between master and slave axes. (Weight is slave side) Pulse
NOTE
1 Displaying this data on the CNC diagnosis screen requires the αi spindle
amplifier (SP) 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 : B0H1 series R (18) edition or later
FS18i/180i/180is-MB : BDH1 series R (18) edition or later
FS18i/180i/180is-MB5 : BDH5 series H (08) edition or later
5.8.10 Status Errors Related to Spindle EGB

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.
5.9 DIFFERENTIAL SPINDLE SPEED CONTROL

5.10 DUAL POSITION FEEDBACK FUNCTION (OPTIONAL

FUNCTION)
- 634 -
5.11 SPEED TANDEM CONTROL FUNCTION (OPTIONAL

FUNCTION)
5.11.1 Overview
For the BiS series spindle (synchronous built-in spindle motor), only speed tandem control is applicable
and torque tandem control cannot be used.

Spindle software
9D90 B (02) FS30i-A / FS31i-A
9DA0 F (06) FS30i-B / FS31i-B
NOTE
When using the αiCZ sensor (serial), 9D90 series G (07) edition or later or 9DA0
series I (09) edition or later is required.

For this subsection, see Subsection 5.11.3, “System Configuration”, in Part I.
The BiS series spindle is not applicable to "Sample configuration 2: System where the table axis is driven
by two motors".


NOTE
For the BiS series spindle (synchronous built-in spindle motor), keep the
following in mind when creating a sequence.
1 In the synchronous spindle motor, magnetic pole detection needs to be
performed after power-on (or after occurrence of an alarm reporting a loss of
the magnetic pole detection state). At this time, disconnect both axes
mechanically to free the motor of each axis and then perform magnetic pole
detection.
2 Before entering the tandem operation command SLVx=1, make sure that
both axes are in the magnetic pole detection completion state
(EPFIXA=1&EPFIXB=1). If the magnetic pole detection incompletion state is
detected, set SLVx = 0.
- 635 -
5.11.6 Parameters
5.11.7 Block Diagram for the Speed Tandem Operation

For this subsection, see Subsection 5.11.7, "Block Diagram for the Speed Tandem Operation", in Part I.

For this subsection, see Subsection 5.11.8, “Alarm and Status Error”, in Part I.
5.11.9 Additional Information

For this subsection, see Subsection 5.11.9, “Additional Information”, in Part I.
5.12 TANDEM RESONANCE ELIMINATION (OPTIONAL

FUNCTION)
5.12.1 Overview

Spindle software
9D90 B (02) FS30i-A / FS31i-A
9DA0 F (06) FS30i-B / FS31i-B

For this subsection, see Subsection 5.12.3, “System Configuration”, in Part I.


- 636 -
NOTE
For the BiS series spindle (synchronous built-in spindle motor), keep the
following in mind when creating a sequence.
1 In the synchronous spindle motor, magnetic pole detection needs to be
performed after power-on (or after occurrence of an alarm reporting a loss of
the magnetic pole detection state). At this time, disconnect both axes
mechanically to free the motor of each axis and then perform magnetic pole
detection.
2 Before entering the tandem operation command SLVx=1, make sure that
both axes are in the magnetic pole detection completion state
(EPFIXA=1&EPFIXB=1). If the magnetic pole detection incompletion state is
detected, set SLVx = 0.
5.12.6 Parameters

5.12.8 Adjustment
For this subsection, see Subsection 5.12.8, "Adjustment", Part I.
5.13 TORQUE TANDEM CONTROL FUNCTION (OPTIONAL

FUNCTION)
5.14 MAGNETIC SENSOR METHOD SPINDLE ORIENTATION

(OPTIONAL FUNCTION)
5.15 SPINDLE BACKLASH ACCELERATION FUNCTION

(OPTIONAL FUNCTION)
5.15.1 Overview
- 637 -

Spindle software
9D53 G (07) FS16i / FS18i / FS21i , FS0i , FS15i
9D70 F (06) FS30i / FS31i / FS32i
9DA0 A (01) FS30i / FS31i / FS32i -B
NOTE

5.15.4 Parameters
5.15.5 Example of Adjustment

For this subsection, see Subsection 5.13.5, “Example of Adjustment”, in Part I.

FUNCTION)
5.16.1 Overview
NOTE
1 When driving the BiS series spindle (synchronous built-in spindle motor),
parameter No.4084
is used for AMR offset function.(The parameter isn’t the motor voltage for spindle
orientation)
Be sure that if an inappropriate value is set for the AMR offset, the motor may
move unpredictably.
2 For AMR offset function, see Subsection 1.5.3, “AMR Offset Function”, in Part IV.

The system configurations that enable the use of the high-speed orientation function are shown below.
- 638 -

Spindle+
Built-in motor
JYA2
SP
TYPE B

TYPE B
Spindle+
JYA3 circuit
Thermistor

For this subsection, see Sections 2.2, “POSITION CODER METHOD SPINDLE ORIENTATION”, and
5.3, “INCREMENTAL COMMAND TYPE SPINDLE ORIENTATION (SPINDLE ROTATION SPEED
CONTROL)” in Part I.
5.16.4 Sequence



For this subsection, see Subsection 5.14.8, “Spindle Data Used in Tuning”, in Part I.
- 639 -

- 640 -
V. FANUC SPINDLE MOTOR βiIc series
B-65280EN/08 FANUC AC SPINDLE MOTOR βiIc series 1.START-UP
1 START-UP
- CNC model
- Spindle motor
- Common power supply (PS)
- Spindle amplifier
- Detector system
B. Check all connections. (See DESCRIPTIONS .)
D. Check the CNC parameter setting for using the βiIc series
E. Perform automatic βiIc series (Serial) spindle parameter

- 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.

- When using a motor with no model code assigned, perform
automatic setting with model code "270", then modify the
parameter data according to the motor-specific parameter
list.
NOTE
The CNC applicable to the βiIc (βiSVSPc) is the 0i Mate-TD.

- 643 -
1.START-UP FANUC AC SPINDLE MOTOR βiIc series B-65280EN/08
1.2.2 Spindle Parameter Initialization

(1) Parameter list
Parameter No. Description
4019#7 Function for automatically initializing spindle parameters
4133 Spindle motor model code
(2) Procedure for spindle parameter initialization

Perform spindle parameter initialization by following the procedure below.

4133 Model code
NOTE
For the spindle motor βiIc, which has no model code, set the model code 270 to
automatically set the parameter, and then input data manually according to the
motor parameter table.

4019#7 1
NOTE

1.2.4 Alarm

The spindle detectors applicable to the βiIc series spindle motor (βiSVSPc) are shown below.
Spindle sensor
αi position coder
αiBZ sensor
- 644 -
B-65280EN/08 FANUC AC SPINDLE MOTOR βiIc series 1.START-UP

3720 Number of pulses of the position coder
4000 #0 Direction of spindle and spindle motor rotation
4002#3,2,1,0 Spindle sensor type setting
4003#7,6,5,4 Sets the number of spindle sensor gear teeth. (Set to 0,0,0,0.)
4006 #1 Gear ratio increment system
4007 #5 Whether to detect disconnection of feedback signals
4007 #6 Whether to detect alarms related to position feedback signals
4016 #6 Whether to detect alarms related to threading feedback
4016 #7 Setting of the function of detecting the one-rotation signal again each time position control
mode is set.
Spindle-to-motor gear ratio data (This data is selected by spindle control input signals
4056~4059
CTH1A and CTH2A.)
4098 Maximum speed for position feedback signal detection
4361 (When setting by #7,6,5,4 is impossible) Setting of the arbitrary number of spindle sensor
gear teeth


This subsection describes the detector configurations for the spindles to which the βiIc series spindle
motor (βiSVSPc) is applicable and the procedure for setting parameters for the detector configurations.
Since the hardware of the detection circuit is set according to the parameter setting in the βiIc series
spindle motor (βiSVSPc), a broken wire alarm or the like may be indicated incorrectly during setting of
the parameter related to detectors.
off once.

Temperature sensor
βiIc
spindle
motor
JYA2 Spindle
αi position coder
βiSVSPc
JYA3

- 645 -
1.START-UP FANUC AC SPINDLE MOTOR βiIc series B-65280EN/08

4002 #3,2,1,0 0,0,1,0 Uses the αi position coder as the spindle sensor.

βiIc spindle motor
JYA2 Spindle
βiSVSPc
JYA4
αiBZ sensor

4000 #0 Depends on the Rotation directions of the spindle and motor
configuration.
4001 #4 Depends on the Spindle sensor mounting direction
configuration.
4002 #3,2,1,0 0,0,1,1 Use of the αiBZ sensor as the spindle sensor.
configuration.
4361 (When setting by #7,6,5,4 is impossible) Setting of the arbitrary
Depends on the detector.
number of spindle sensor gear teeth
- 646 -
B-65280EN/08 FANUC AC SPINDLE MOTOR βiIc series 2.EXPLANATION OF OPERATION MODES


For this subsection, see Subsection 2.1.1, “Start-up Procedure”, in Part III.
2.1.2 Overview
For this subsection, see Subsection 2.1.2, “Overview”, in Part III.

For system configurations, see Subsection 1.3.3, “Typical Detector Configurations”, in Part V.

This Subsection provides a list of the I/O signals related to the velocity control mode only. For details of
signal, refer to the Connection Manual (Function) of CNC.
“FANUC Series 0i-MODEL D CONNECTION MANUAL (FUNCTION) : B-64303EN-1/02

For details on common input/output signals, see Chapter 3, "I/O SIGNALS (CNC↔PMC)", in Part I.
(1)Input signals (PMC→CNC)

#7 #6 #5 #4 #3 #2 #1 #0
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
Common signals G070 MRDYA SFRA SRVA CTH1A CTH2A TLMHA TLMLA
G071 *ESPA
G072 OVRA
- 647 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR βiIc series B-65280EN/08

#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
F037 R12O R11O R10O R09O
Common signals F045 TLMA LDT1A SARA SDTA SSTA

For this subsection, see Subsection 2.1.5, “Related Parameters”, in Part III.

For this subsection, see Subsection 2.1.6, “Details of Related Parameters”, in Part III.
For this subsection, see Subsection 2.1.7, “Troubleshooting”, in Part III.


2.2.2 Overview
2.2.3 Feature

The position coder method orientation function can be used for all of the configurations listed in
Subsection 1.3.3, "Typical Detector Configurations", in Part V.

For this subsection, see Subsection 2.2.7, "Stop Position Specification Method", in Part I.
- 648 -

(1) List of input signals (PMC→CNC)
#7 #6 #5 #4 #3 #2 #1 #0
G070 ORCMA CTH1A CTH2A
G072 NRROA ROTAA INDXA
G078 SHA07 SHA06 SHA05 SHA04 SHA03 SHA02 SHA01 SHA00
G079 SHA11 SHA10 SHA09 SHA08

With the βiIC series, the signals indicated in the item above are valid. For details of each signal, see
Subsection 2.2.8(2), “Details of input signals (PMC→CNC)”, in Part I

#7 #6 #5 #4 #3 #2 #1 #0
F045 ORARA

With the βiIC series, the signals indicated in the item above are valid. For details of signal, see Subsection
2.2.8(4), “Details of output signals (CNC→PMC)”, in Part I.

For this subsection, see Subsection 2.2.9, “ Examples of Sequences “, in Part I.



Part I.

2.3.2 Overview
- 649 -

The position coder method orientation function can be used for all of the configurations listed in
Subsection 1.3.3, "Typical Detector Configurations", in Part V.

This subsection provides a list of the I/O signals related to rigid tapping only. For details of signal, refer
to the Connection Manual (Function) of CNC.
“FANUC Series 0i-MODEL D CONNECTION MANUAL (FUNCTION) : B-64303EN-1/02


#7 #6 #5 #4 #3 #2 #1 #0
G028 GR2 GR1
G061 RGTAP
Common signals
#7 #6 #5 #4 #3 #2 #1 #0
G070 SFRA SRVA CTH1A CTH2A

#7 #6 #5 #4 #3 #2 #1 #0
F076 RTAP
2.3.5 Sequence
For the sequence of rigid tapping, see Section 10.13, "Rigid Tapping" in the FANUC Series 0i-MODEL
D Connection Manual (Function) (B-64303EN-1/02).



For this subsection, see Subsection 2.3.8, “Parameter Setting Procedure”, in Part III.

For this subsection, see Subsection 2.3.9, “Adjustment Procedure”, in Part III.
- 650 -

2.3.11 Alarm
2.4.1 Overview
For this subsection, see Subsection 2.5.1, “Overview”, in Part III.

This Subsection provides a list of the I/O signals related to spindle speed control only. For details of each
signal, refer to the “FANUC Series 0i-MODEL D CONNECTION MANUAL (FUNCTION) :
B-64303EN-1/02 Refer to Section 10.6, “SPINDLE SPEED CONTROL.”

#7 #6 #5 #4 #3 #2 #1 #0
G028 GR2 GR1
G029 *SSTP SOR SAR

Common signals
#7 #6 #5 #4 #3 #2 #1 #0
TLMLA
G070 MRDYA SFRA SRVA CTH1A CTH2A TLMHA
(*1)
G071 *ESPA ARSTA
G073 MPOFA
NOTE
1 In the βiIC series, the functions of the signals are different from those of the αi
series. For details, see Chapter 3, "I/O SIGNALS (CNC↔PMC) ", in Part III.
- 651 -

#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
F037 R12O R11O R10O R09O
Common signals #7 #6 #5 #4 #3 #2 #1 #0
F045 TLMA LDT1A SARA SDTA SSTA ALMA
F047 PC1DTA
2.4.3 Parameters
This Subsection describes those parameters that are common to all operation modes by dividing them into
several types.
NOTE
TO DETECTORS”, in Part V.

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.

4011#3 Sets the number of motor poles.
4011#4 Sets a maximum output for acceleration/deceleration.
4011#7 Sets the number of motor poles.
4012#2,1,0 Sets a PWM carrier frequency.
4013#6~2 Sets current dead-band data.
4020 Maximum motor speed
4080 High-speed area regenerative power limit/regenerative power limit
4083 Motor voltage on velocity control
4100 Base speed for motor output specification
4101 Torque limitation value for motor output specification
4102 Excitation voltage saturation speed with no load
4103 Base speed limit ratio
4104 Current loop proportional gain
4105 Current loop integral gain
4106 D-axis current loop gain
4107 Q-axis current loop gain
4108 Q-axis current deviation limitation coefficient
4109 Filter time constant in voltage command saturation processing
4110 Current conversion constant
4111 Secondary current coefficient
4112 Voltage command saturation decision level/PWM command clamp value
4113 Slip constant
4115 PWM command clamp value at deceleration time
- 652 -

4116 Motor leakage constraint
Voltage compensation coefficient for a high-speed area in steady state/motor
4117
voltage coefficient in steady state
Voltage compensation coefficient for a high-speed area at deceleration
4118
time/motor voltage coefficient at deceleration time
Time constant for excitation current change at deceleration time/time constant for
4119
excitation current change
4120 Dead-band compensation data
4127 Load meter indication value at maximum output time
4128 Compensation coefficient between the specification and true base/maximum
torque curve compensation coefficient
4130 Current loop proportional gain velocity coefficient/current phase delay
4131 Dead-band compensation hysteresis
4133 Motor model code
4134 Motor overheat level (2 words)
4138 Primary frequency clamp velocity1
4139 Primary frequency clamp slip frequency 1
4140 Primary frequency clamp velocity 2
4141 Primary frequency clamp slip frequency 2
4142 Belt slip state detection coefficient 1
4143 Belt slip state detection coefficient 2


Motor power turn-off method when spindle alarm 24 (serial data transfer error) is
4009#2
issued
4086 Gear ratio parameter setting error alarm (spindle alarm 35) detection level
4088 Velocity error excess detection level when the motor is bound
4089 Velocity error excess detection level when the motor is rotating
4090 Overload detection level
4123 Short-time overload detection period


- 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.)
- Enables/disables the spindle alarms (SPxxxx) of all spindles. (Usually, set 0.)
3720 Number of position coder pulses
- Spindle number selected at power-on/reset time
4001#0 Whether to use the MRDY signal (machine ready signal)
4002#4 SM pin output data selection
4005#0 Setting of the velocity feedback method
4006#1 Gear ratio increment system
4006#2 Sets the unit of speed.
Whether to output the load detection signal (LDT1A) during
4009#4
4019#7 Automatic parameter setting function
4020 Maximum motor speed
- 653 -

4022 Speed arrival detection signal
4023 Speed detection level
4024 Speed zero detection level
4025 Torque limitation value.
4026 Load detection level 1
4056 Gear ratio (High)
4057 Gear ratio (Medium High)
4058 Gear ratio (Medium Low)
4059 Gear ratio (Low)
4078 Gear switch timer
4095 Speedometer output voltage adjustment value
4121 Torque change time constant (torque command filter time constant)

For this subsection, see Subsection 2.5.4, “Details of parameters”, in Part III.

- 654 -
B-65280EN/08 FANUC AC SPINDLE MOTOR βiIc s 3.I/O SIGNALS (CNC(PMC)

This chapter explains the functions of the signals directly input from the PMC to βiSVSPc via the CNC and
the signals directly output from the βiSVSPc to PMC. For other spindle-related I/O signals, refer to the
Connection Manual (Function) of the relevant CNC.
See Chapter 10, "SPINDLE FUNCTION" in the FANUC Series 0i MODEL D Connection Manual
(Function) (B-64303EN-1).
3.1 INPUT SIGNALS (PMC→CNC→βiSVSPc)

This section explains the functions of the signals directly input from the PMC to βiSVSPc via the CNC. For
other spindle-related input signals, refer to the Connection Manual (Function) of the relevant CNC.

#7 #6 #5 #4 #3 #2 #1 #0
G070 MRDYA ORCMA SFRA SRVA CTH1A CTH2A TLMHA TLMLA
G071 INTGA *ESPA ARSTA
G072 INCMDA OVRA NRROA ROTAA INDXA
G073 MPOFA

For information about the signals listed in Subsection 3.1.1, “List of Input Signals”, in Part V, see
Those signals that are not listed in Subsection 3.1.1, “List of Input Signals”, in Part V are not used with the
βiIc series spindle.
This subsection describes only those signals that have different specifications for use with the βiIc spindle.

Switches to a speed control method that uses speed estimation during gear
switching.
Torque limitation
TLMLA, B 0: -
command LOW
1: Performs speed control using only speed estimation. (However, there is
the delay set by the gear switching timer [No.4078].)

For information about the signals listed in Subsection 3.1.1, “List of Input Signals”, in Part V, see
Those signals that are not listed in Subsection 3.1.1, “List of Input Signals”, in Part V are not used with the
This subsection describes only those signals that have different specifications for use with the βiIc spindle.
- 655 -
3.I/O SIGNALS (CNC(PMC) FANUC AC SPINDLE MOTOR βiIc series B-65280EN/08
(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 Control by the motor speed

calculated from the position Control by speed calculated from the position
coder signal estimation coder signal
(Example of a recommended sequence)

Torque limitation 1
command (TLMLA) 0
Software internal timer
LOW
Gear shifter
HIGH
LOW
Gear state
HIGH
Clutch/gear signals 1
(CTH1A,CTH2A) 0
3.2 OUTPUT SIGNALS (βiSVSPc→CNC→PMC)

This section explains the functions of the signals directly output from the βiSVSPc to PMC via the CNC.
For other spindle-related output signals, refer to the Connection Manual (Function) of the relevant CNC.

#7 #6 #5 #4 #3 #2 #1 #0
F045 ORARA TLMA LDT1A SARA SDTA SSTA ALMA
F047 INCSTA PC1DTA

For information about the signals listed in Subsection 3.2.1, “List of Output Signals”, in Part V, see
- 656 -
B-65280EN/08 FANUC AC SPINDLE MOTOR βiIc s 3.I/O SIGNALS (CNC(PMC)
Those signals that are not listed in Subsection 3.2.1, “List of Output Signals”, in Part V are not used with the

For information about the signals listed in Subsection 3.2.1, “List of Output Signals”, in Part V, see
Those signals that are not listed in Subsection 3.2.1, “List of Output Signals”, in Part V are not used with the
- 657 -
4.ADJUSTMENT FANUC AC SPINDLE MOTOR βiIc series B-65280EN/08
4 ADJUSTMENT
4.1.1 Overview
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.
4040 Velocity loop proportional gain on velocity control mode (HIGH) CTH1A=0
4041 Velocity loop proportional gain on velocity control mode (LOW) CTH1A=1
Unit of data :
4048 Velocity loop integral gain on velocity control mode (HIGH) CTH1A=0
4049 Velocity loop integral gain on velocity control mode (LOW) CTH1A=1
Unit of data :
(2) Orientation
4042 Velocity loop proportional gain on orientation (HIGH) CTH1A=0

4043 Velocity loop proportional gain on orientation (LOW) CTH1A=1
Unit of data :
4050 Velocity loop integral gain on orientation (HIGH) CTH1A=0

4051 Velocity loop integral gain on orientation (LOW) CTH1A=1
- 658 -
B-65280EN/08 FANUC AC SPINDLE MOTOR βiIc series 4.ADJUSTMENT
Unit of data :
4044 Velocity loop proportional gain on servo mode (HIGH) CTH1A=0

4045 Velocity loop proportional gain on servo mode (LOW) CTH1A=1
Unit of data :
4052 Velocity loop integral gain on servo mode (HIGH) CTH1A=0

4053 Velocity loop integral gain on servo mode (LOW) CTH1A=1
Unit of data :
4044 Velocity loop proportional gain on spindle synchronous control (HIGH) CTH1A=0
4045 Velocity loop proportional gain on spindle synchronous control (LOW) CTH1A=1
Unit of data :
4052 Velocity loop integral gain on spindle synchronous control (HIGH) CTH1A=0
4053 Velocity loop integral gain on spindle synchronous control (LOW) CTH1A=1
Unit of data :
NOTE
For the velocity loop gain on spindle synchronous control and on the servo mode,
common parameters are used.

In preparation for the adjustment, settings must be made so that a stable operation takes place in each mode
without overshoot or oscillation.
operation mode, and confirm operations
- 659 -
4.ADJUSTMENT FANUC AC SPINDLE MOTOR βiIc series B-65280EN/08
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
Before adjusting the velocity loop gain, check the operation mode and the clutch/gear signals and then
change the corresponding parameters. Follow the steps below to adjust the parameters:
The velocity loop proportional gain and integral gain are parameters to be set according to the load inertia.
Set the value according to the following equation.
JL [kgm2 ]
[Proportional/integral gain considering load inertia] = ( + 1) × [Initial value of proportional/integral gain]
Jm [kgm2 ]
JL [kgm2] : Spindle load inertia (converted for the motor shaft)

Jm [kgm2] : Rotor inertia of spindle motor
Example) For the βiIc3/6000
The motor rotor inertia Jm is 0.0078 kgm2.
The initial value of the proportional gain is 24.
The initial value of the integral gain is 607.
If the spindle inertia Jl is 0.0250kgm2:
The proportional gain considering load inertia is (No.4040 to No.4045) = (0.0250/0.0078+1)×24 =
101.
The integral gain considering load inertia is (No.4048 to No.4053) = (0.0250/0.0078+1)×607 = 2553.
Initial value of Initial value of

Motor model Rotor inertia Jm (kgm2)
proportional gain integral gain
βiIc3/6000 0.0078 24 607
βiIc6/6000 0.0148 34 844
βiIc8/6000 0.0179 28 696
If vibration as described below occurs when a value calculated by the above expression is set because, for
example, the rigidity of the spindle is low, then set a smaller value (equal to or less than 70% of the
calculated value) by providing a margin.
- The vibration sound of spindle occurs.
- Vibration of a torque command becomes large.
- Vibration caused by position error at a stop becomes large.

- 660 -
APPENDIX
B-65280EN/08 APPENDIX A.SPINDLE PARAMETER TABLE
A SPINDLE PARAMETER TABLE

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
E : Parameters related to the setting of a power consumption monitor (see the FANUC Series
30i/31i/32i-A Power Consumption Monitor Specification (A-92345).)
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 ApplicationClassif

Referenc
data No. 15i 16i 30i bit initial setting Contents i-catio
e item
F-xxx data MH ML SH SL n
Rotation direction relationship between the spindle
0H 3000 4000 4000 #0 0 O O A Ι-1.3.2
and motor
Spindle rotation direction when a positive (+)
#1 0 move command is specified on Cs contouring O O B Ι-2.4.8
control
Return direction for the reference position on Cs
#3 0 O O B Ι-2.4.8
Return direction for the reference position on
#4 0 O O B Ι-2.3.7
servo mode
Whether to use the differential spindle speed
#5 0 O O B Ι-5.9.8
control function
#6 0 Direction for differential spindle speed control O O B Ι-5.9.8
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
Whether to use the rotation direction signal
#4 0 O O B Ι-2.4.8
(SFR/SRV) function on Cs contouring control
#5 0 O O B Ι-2.3.7
(SFR/SRV) function on servo mode
#6 0 (SFR/SRV) function on spindle synchronous O O B Ι-2.5.8
control
Whether to use the CMR (servo mode Cs
#7 0 O O B
contouring) function in servo mode
1L 3003 4003 4003 #0 0 Spindle orientation method O O B Ι-2.2.12
#2 0 Rotation direction during spindle orientation O O B Ι-2.2.12
#3 0 Rotation direction during spindle orientation O O B Ι-2.2.12
#4 0 Teeth number setting of spindle sensor O O A Ι-1.3.2
- 663 -
A.SPINDLE PARAMETER TABLE APPENDIX B-65280EN/08

Referenc
e item
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
2L 3005 4005 4005 #0 0 Command resolution for Cs contouring control O O B Ι-2.4.8
3H 3006 4006 4006 #1 0 Increment system of gear ratio O O A Ι-1.3.2
Depends on
#2 Increment system of spindle speed O O C Ι-2.6.4
the model
Automatic detection of one-rotation signal during
#3 0 O O B Ι-2.5.8
#5 0 Setting of analog override range O O B Ι-2.1.6
Whether to use the command arbitrary gear ratio
#7 0 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
Whether to detect the alarms (spindle alarms 41,
42, 47, 81, 82, 83, 85, 86, and 87) related to the
#6 0 O O A Ι-1.3.2
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
Depends on
#4 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
Motor power turn-off method when spindle alarm
#2 0 O O D Ι-2.6.4
24 (serial data transfer error) is issued
Whether to output the load detection signals
#4 0 O O B Ι-2.1.6
(LDT1, LDT2) during acceleration/deceleration
#6 0 Analog override type O O B Ι-2.1.6
Depends on
5H 3010 4010 4010 #0 Motor sensor type O O A Ι-1.3.2
the model
Depends on
#1 Motor sensor type O O A Ι-1.3.2
the model
Depends on
#2 Motor sensor type O O A Ι-1.3.2
the model
Depends on
5L 3011 4011 4011 #0 Teeth number setting of motor sensor O O A Ι-1.3.2
the model
Depends on
#1 Teeth number setting of motor sensor O O A Ι-1.3.2
the model
Depends on
#2 Teeth number setting of motor sensor O O A Ι-1.3.2
the model
Depends on
#3 Number of motor poles O O C Ι-2.6.4
the model
Depends on Setting of maximum output during
#4 O O C Ι-2.6.4
the model acceleration/deceleration
Depends on
#7 Number of motor poles O O C Ι-2.6.4
the model
Depends on
6H 3012 4012 4012 #0 Setting of PWM carrier frequency O O C Ι-2.6.4
the model
Depends on
#1 Setting of PWM carrier frequency O O C Ι-2.6.4
the model
Depends on
#2 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
Depends on
6L 3013 4013 4013 #2 Current dead-band data O O C Ι-2.6.4
the model
Depends on
#3 Current dead-band data O O C Ι-2.6.4
the model
Depends on
the model
Depends on
the model
Depends on
the model
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Referenc
e item
Depends on Setting of a PWM carrier frequency for low-speed
#7 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
Whether to check both spindle switch main and
#2 0 O O O O B Ι-5.2.9
sub magnetic contactor contacts
Whether to check both magnetic contactor
#3 0 contacts for high-speed /low-speed characteristics O O O O B Ι-5.1.7
in speed range switching
Whether to use the orientation function on spindle
#6 0 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-2.2.12
Whether to use the unexpected disturbance
#1 0 O O O O B Ι-5.7.5
torque detection function
Whether to use the speed range switching
#2 0 O O O O B Ι-5.1.7
function
#3 0 Whether to use the spindle tandem function O O O O B Ι-5.11.6
Setting of the smoothing function in feed-forward Ι-2.4.8
8H 3016 4016 4016 #3 0 O O B
control Ι-5.8.7
Setting related to the motor voltage control Ι-2.3.7
#4 0 characteristics on Cs contouring control or servo O O B
mode Ι-2.4.8
#5 0 82, 85, 86) related to position feedback (on Cs O O A Ι-1.3.2
Whether to detect the alarm (spindle alarms 46)
#6 0 related to feedback of the position detection signal O O A Ι-1.3.2
for threading
Function for newly detecting the one-rotation
#7 0 O O A Ι-1.3.2
signal before entering position control mode
This parameter sets speed integration operation
8L 3017 4017 4017 #0 0 when differential spindle speed control is O O B Ι-5.9.8
exercised.
Setting of shortcut orientation from stop state in
#7 0 O O B Ι-2.2.12
position coder method spindle orientation
9H 3018 4018 4018 #3 0 Type of position coder method orientation O O B Ι-2.2.12
Optimum orientation: Setting of velocity
#4 0 O O B Ι-2.2.12
feedforward (CTH1A=0)
feedforward (CTH1A=1) Ι-2.2.12
#5 0 O O B
High-speed orientation: Velocity command Ι-5.14.7
compensation function
#6 0 Type of position coder method orientation O O B I-2.2.12
9L 3019 4019 4019 #2 1 Whether to use torque clamp at zero speed O O B Ι-2.6.4
Setting of the function for switching from
high-speed characteristics to low-speed
#4 0 O O B Ι-5.1.7
characteristics with the speed detection signal
SDT = 1 at speed range switching
Presence or absence of the compensation of the
#6 1 O O B Ι-2.2.12
spindle acceleration command
Ι-1.1.2
#7 0 Automatic parameter setting function (16i/30i) O O B
Ι-2.6.4
Depends on
10 3020 4020 4020 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-2.4.8
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
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Referenc
e item
21 3031 4031 4031 0 Stop position of position coder method orientation O O B Ι-2.2.12
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
Compensation data for spindle phase
25 3035 4035 4035 10 O O B Ι-2.5.8
synchronous control
Ι-2.4.8
26 3036 4036 4036 0 Feed-forward coefficient O O B
Ι-5.8.8
Ι-2.4.8
27 3037 4037 4037 0 Feed-forward coefficient of velocity loop O B Ι-5.6.4
Ι-5.8.8
Optimum orientation: Orientation speed upper limit
I-2.2.12
28 3038 4038 4038 0 Conventional method orientation, High-speed O O B
I-5.14.7
orientation: Spindle orientation speed upper limit
Depends on
29 3039 4039 4039 Slip compensation gain O C Ι-2.6.4
the model
Velocity loop proportional gain on velocity control
30 3040 4040 4040 10 O O B Ι-2.1.6
mode (High)
31 3041 4041 4041 10 O O B Ι-2.1.6
mode (Low)
Velocity loop proportional gain on orientation
32 3042 4042 4042 10 O O B Ι-2.2.12
(High)
33 3043 4043 4043 10 O O B Ι-2.2.12
(Low)
Velocity loop proportional gain on servo Ι-2.3.7
34 3044 4044 4044 10 O O B
mode/spindle synchronous control (High) Ι-2.5.8
Velocity loop proportional gain on servo Ι-2.3.7
35 3045 4045 4045 10 O O B
mode/spindle synchronous control (Low) Ι-2.5.8
Velocity loop proportional gain on Cs contouring
36 3046 4046 4046 30 O O B Ι-2.4.8
control (High)
37 3047 4047 4047 30 O O B Ι-2.4.8
control (Low)
Velocity loop integral gain on velocity control
38 3048 4048 4048 10 O O B Ι-2.1.6
mode (High)
39 3049 4049 4049 10 O O B Ι-2.1.6
mode (Low)
40 3050 4050 4050 10 Velocity loop integral gain on orientation (High) O O B Ι-2.2.12
41 3051 4051 4051 10 Velocity loop integral gain on orientation (Low) O O B Ι-2.2.12
Velocity loop integral gain on servo mode/spindle Ι-2.3.7
42 3052 4052 4052 10 O O B
synchronous control (High) Ι-2.5.8
Velocity loop integral gain on servo mode/spindle Ι-2.3.7
43 3053 4053 4053 10 O O B
synchronous control (Low) Ι-2.5.8
Velocity loop integral gain on Cs contouring
44 3054 4054 4054 50 O O B Ι-2.4.8
control (High)
Velocity loop integral gain on Cs contouring
45 3055 4055 4055 50 O O B Ι-2.4.8
control (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-2.2.12
51 3061 4061 4061 1000 Position gain on orientation (Medium High) O O B Ι-2.2.12
52 3062 4062 4062 1000 Position gain on orientation (Medium Low) O O B Ι-2.2.12
53 3063 4063 4063 1000 Position gain on orientation (Low) O O B Ι-2.2.12
Normal orientation: Rate of change in the position
gain upon completion of spindle orientation
High-speed orientation: Percentage limit to an Ι-2.2.12
54 3064 4064 4064 100 O O B
acceleration during deceleration Ι-5.4.7
Optimum orientation: Position feedforward
coefficient
Position gain on servo mode/spindle synchronous Ι-2.3.7
55 3065 4065 4065 1000 O O B
control (High) Ι-2.5.8
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Referenc
e item

56 3066 4066 4066 1000 O O B
control (Medium High) Ι-2.5.8
57 3067 4067 4067 1000 O O B
control (Medium Low) Ι-2.5.8
58 3068 4068 4068 1000 O O B
control (Low) Ι-2.5.8
59 3069 4069 4069 3000 Position gain on Cs contouring control (High) O O B Ι-2.4.8
Position gain on Cs contouring control (Medium
60 3070 4070 4070 3000 O O B Ι-2.4.8
High)
61 3071 4071 4071 3000 O O B Ι-2.4.8
Low)
62 3072 4072 4072 3000 Position gain on Cs contouring control (Low) O O B Ι-2.4.8
63 3073 4073 4073 0 Grid shift on servo mode O O B Ι-2.3.7
Reference position return speed on Cs contouring Ι-2.3.7
64 3074 4074 4074 0 O O O O B
control/servo mode Ι-2.4.8
Detection level for orientation completion signal
65 3075 4075 4075 10 O O B Ι-2.2.12
(ORAR)
Ordinary orientation: Motor speed limit value on
orientation
66 3076 4076 4076 33 High-speed orientation: Reserved O O B Ι-2.2.12
Optimum orientation: Bell-shaped acceleration /
deceleration time constant
67 3077 4077 4077 0 Orientation stop position shift O O B Ι-2.2.12
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
Depends on Regenerative power limit for high-speed
70 3080 4080 4080 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
Depends on
73 3083 4083 4083 Motor voltage on velocity control mode O C Ι-2.1.6
the model
Depends on Ι-2.2.12
74 3084 4084 4084 Motor voltage on orientation O O C
the model Ι-5.4.7
Depends on Motor voltage on servo mode/spindle synchronous Ι-2.3.7
75 3085 4085 4085 O C
the model control mode Ι-2.5.8
76 3086 4086 4086 100 Motor voltage on Cs contouring control O O C Ι-2.4.8
77 3087 4087 4087 115 Overspeed level O O O O D Ι-2.6.4
Level for detecting excess velocity error when
78 3088 4088 4088 75 O O O O D Ι-2.6.4
motor is restrained
Level for detecting excess velocity error when
79 3089 4089 4089 200 O O O O D Ι-2.6.4
motor rotates
80 3090 4090 4090 90 Overload detection level O O O O D Ι-2.6.4
Rate of change in position gain during reference
81 3091 4091 4091 100 O O B Ι-2.3.7
position return on servo mode
82 3092 4092 4092 100 O O B Ι-2.4.8
position return on Cs contouring control
Depends on
83 3093 4093 4093 Value displayed on load meter at maximum output O C App. B
the model
Disturbance torque compensation constant
84 3094 4094 4094 0 O O B Ι-2.4.8
(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-2.4.8
Maximum speed for position feedback signal
88 3098 4098 4098 0 O O O O A Ι-1.3.2
detection
Ι-2.3.7
89 3099 4099 4099 0 Delay time for motor excitation O O O O B
Ι-2.4.8
Depends on
90 3100 4100 4100 Base speed of motor output specifications O C Ι-2.6.4
the model
Depends on
91 3101 4101 4101 Output limit for motor output specifications O C Ι-2.6.4
the model
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Referenc
e item
Depends on
92 3102 4102 4102 Excitation voltage saturation speed at no-load O C Ι-2.6.4
the model
Depends on
93 3103 4103 4103 Base speed limit ratio O C Ι-2.6.4
the model
Depends on
94 3104 4104 4104 Current loop proportional gain O C Ι-2.6.4
the model
95 3105 4105 4105 0 Reserved O C
Depends on
96 3106 4106 4106 Current loop integral gain O C Ι-2.6.4
the model
97 3107 4107 4107 0 Reserved O C
Depends on Velocity at which the current loop integral gain is
98 3108 4108 4108 O C Ι-2.6.4
the model zero
Depends on Filter time constant for processing saturation
99 3109 4109 4109 O C Ι-2.6.4
the model related to the voltage command
Depends on
100 3110 4110 4110 Current conversion constant O C Ι-2.6.4
the model
Depends on
101 3111 4111 4111 Secondary current coefficient O C Ι-2.6.4
the model
Depends on Criterion level for saturation related to the voltage
102 3112 4112 4112 O C Ι-2.6.4
the model command/PWM command clamp value
Depends on
103 3113 4113 4113 Slip constant O C Ι-2.6.4
the model
Depends on Slip compensation coefficient for a high-speed
104 3114 4114 4114 O C Ι-2.6.4
the model zone/slip compensation coefficient at deceleration
Depends on
105 3115 4115 4115 PWM command clamp value at deceleration O C Ι-2.6.4
the model
Depends on
106 3116 4116 4116 Motor leakage constant O C Ι-2.6.4
the model
Regular-time voltage compensation coefficient for
Depends on
107 3117 4117 4117 high-speed zone/regular-time motor voltage O C Ι-2.6.4
the model
coefficient
Acceleration-time voltage compensation
Depends on
108 3118 4118 4118 coefficient for high-speed zone/acceleration-time O C Ι-2.6.4
the model
motor voltage coefficient
Depends on Deceleration-time excitation current change time
109 3119 4119 4119 O C Ι-2.6.4
the model constant/excitation current change time constant
Depends on Dead-band rectangular wave component zero
110 3120 4120 4120 O O O O C Ι-2.6.4
the model voltage/dead-band data
Time constant for changing the torque (TCMD
111 3121 4121 4121 5 O B Ι-4.2.1
filter 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
Magnetic flux boost completion level/magnetic flux
114 3124 4124 4124 0 O B Ι-5.17.4
boost coefficient
Depends on
117 3127 4127 4127 Value displayed on load meter at maximum output O C Ι-2.6.4
the model
Compensation coefficient between the
Depends on
118 3128 4128 4128 specification and true base/maximum torque curve O C Ι-2.6.4
the model
compensation coefficient
Depends on
119 3129 4129 4129 Secondary current coefficient for rigid tapping O C Ι-2.6.4
the model
Current loop proportional gain speed
Depends on
120 3130 4130 4130 coefficient/current phase delay compensation O C Ι-2.6.4
the model
coefficient
Time constant for velocity detecting filter (on Cs
121 3131 4131 4131 0 O O B Ι-2.4.8
contouring control)
Depends on Ι-1.1.2
123 3133 4133 4133 Motor model code O O C
the model Ι-2.6.4
124 Depends on
3134 4134 4134 Motor overheat detect level (2-word) O O C Ι-2.6.4
125 the model
126 Grid shift during Cs contouring control mode l
3135 4135 4135 0 O O B Ι-2.4.8
127 (2-word)
Depends on
128 3136 4136 4136 Motor voltage on velocity control mode O C App. B
the model
- 668 -

Referenc
e item
Depends on Motor voltage on servo mode/spindle synchronous
129 3137 4137 4137 O C App. B
the model control mode
Depends on
130 3138 4138 4138 Base speed of motor output specifications O C App. B
the model
Depends on
131 3139 4139 4139 Output limit for motor output specifications O C App. B
the model
Depends on
132 3140 4140 4140 Excitation voltage saturation speed at no-load O C App. B
the model
Depends on
133 3141 4141 4141 Base speed limit ratio O C App. B
the model
Depends on
134 3142 4142 4142 Current loop proportional gain O C App. B
the model
Depends on
135 3143 4143 4143 Current loop integral gain O C App. B
the model
136 3144 4144 4144 O C App. B
the model zero
137 3145 4145 4145 O C App. B
Depends on
138 3146 4146 4146 Current conversion constant O C App. B
the model
Depends on
139 3147 4147 4147 Secondary current coefficient O C App. B
the model
140 3148 4148 4148 O C App. B
Depends on
141 3149 4149 4149 Slip constant O C App. B
the model
142 3150 4150 4150 O C App. B
Depends on
143 3151 4151 4151 PWM command clamp value at deceleration O C App. B
the model
Depends on
144 3152 4152 4152 Motor leakage constant O C App. B
the model
Depends on
145 3153 4153 4153 high-speed zone/regular-time motor voltage O C App. B
the model
coefficient
Depends on
146 3154 4154 4154 coefficient for high-speed zone/acceleration-time O C App. B
the model
147 3155 4155 4155 0 O B App. B
boost coefficient
Depends on
148 3156 4156 4156 Slip compensation gain O C App. B
the model
149 3157 4157 4157 5 O B App. B
Depends on
150 3158 4158 4158 specification and true base/maximum torque curve O C App. B
the model
Depends on
151 3159 4159 4159 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
Depends on
153 3161 4161 4161 coefficient/current phase delay compensation O C App. B
the model
coefficient
Integral gain of velocity loop during cutting feed on
154 3162 4162 4162 0 O O B Ι-2.4.8
Cs contouring control mode (High)
Integral gain of velocity loop during cutting feed on
155 3163 4163 4163 0 O O B Ι-2.4.8
Cs contouring control mode (Low)
157 3165 4165 4165 O C App. B
158 3166 4166 4166 O C App. B
160 3168 4168 4168 0 Current overload alarm detection level O D App. B
Depends on
161 3169 4169 4169 Temperature monitoring time constant O O C Ι-2.6.4
the model
162 3170 4170 4170 0 Current overload alarm detection level O D Ι-2.6.4
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Referenc
e item
Denominator of arbitrary gear ratio between motor
163 3171 4171 4171 0 O O A Ι-1.3.2
sensor and spindle (High)
Numerator of arbitrary gear ratio between motor
164 3172 4172 4172 0 O O A Ι-1.3.2
165 3173 4173 4173 0 O O A Ι-1.3.2
sensor and spindle (Low)
166 3174 4174 4174 0 O O A Ι-1.3.2
Rotation direction relationship between the spindle
168H 3176 4176 4176 #0 0 O O A App. B
and motor
Return direction for the reference position on
#4 0 O O B App. B
servo 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
#5 0 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
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
Depends on
#2 Increment system of spindle speed O O C App. B
the model
#5 0 Setting of analog override range O O B App. B
Whether to use the command arbitrary gear ratio
#7 0 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
42, 47, 81, 82, 83, 85, 86, and 87) related to the
#6 0 O O A App. B
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
Depends on
#4 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
Motor power turn-off method when spindle alarm
#2 0 O O D App. B
24 (serial data transfer error) is issued
Whether to output the load detection signals
#4 0 O O B App. B
(LDT1, LDT2) during acceleration/deceleration
#6 0 Analog override type O O B App. B
Depends on
173H 3186 4186 4186 #0 Motor sensor type O O A App. B
the model
Depends on
#1 Motor sensor type O O A App. B
the model
Depends on
#2 Motor sensor type O O A App. B
the model
Depends on
173L 3187 4187 4187 #0 Teeth number setting of motor sensor O O A App. B
the model
Depends on
#1 Teeth number setting of motor sensor O O A App. B
the model
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Referenc
e item
Depends on
#2 Teeth number setting of motor sensor O O A App. B
the model
Depends on
#3 Number of motor poles O O C App. B
the model
#4 O O C App. B
Depends on
#7 Number of motor poles O O C App. B
the model
Depends on
174H 3188 4188 4188 #0 Setting of PWM carrier frequency O O C App. B
the model
Depends on
#1 Setting of PWM carrier frequency O O C App. B
the model
Depends on
#2 Setting of PWM carrier frequency O O C App. B
the model
Depends on
174L 3189 4189 4189 #2 Current dead-band data O O C App. B
the model
Depends on
#3 Current dead-band data O O C App. B
the model
Depends on
the model
Depends on
the model
Depends on
the model
Depends on Setting of a PWM carrier frequency for low-speed
#7 O C App. B
the model characteristics area
176L 3191 4191 4191 #0 0 Whether to use the spindle orientation function B
#1 0 Whether to use the spindle load detection function B
#2 0 Whether to use the output switching function B
#3 0 Whether to use the spindle tandem function B

Setting of the smoothing function in feed-forward
176H 3192 4192 4192 #3 0 O O B App. B
control
Setting related to control characteristics on servo
#4 0 O O B App. B
mode
Whether to detect the alarm (spindle alarms 46)
#6 0 related to feedback of the position detection signal O O A App. B
for threading
Function for newly detecting the one-rotation
#7 0 O O A App. B
signal before entering position control mode
Setting of shortcut orientation from stop state in
176L 3193 4193 4193 #7 0 O O B App. B
position coder method spindle orientation
177H 3194 4194 4194 #3 0 Type of position coder method orientation O O B App. B
#4 0 O O B App. B
#5 0 O O B App. B
High-speed orientation: Velocity command
#6 0 Type of position coder method orientation 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 O O B App. B
characteristics with the speed detection signal
SDT = 1 at speed range switching
Presence or absence of the compensation of the
#6 1 O O B App. B
spindle acceleration command
#7 0 Automatic parameter setting function (16i/30i) O O B App. B
Depends on
178 3196 4196 4196 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
- 671 -
Internal Standard Application

Classif
Referenc
e item
183 3201 4201 4201 83 Load detection level 1 (LDT1) O O B App. B
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 Conventional method orientation, High-speed O O B App. B
orientation: Spindle orientation speed
188 3206 4206 4206 10 O O B App. B
mode (High)
189 3207 4207 4207 10 O O B App. B
mode (Low)
190 3208 4208 4208 10 O O B App. B
(High)
191 3209 4209 4209 10 O O B App. B
(Low)
Velocity loop proportional gain on servo mode
192 3210 4210 4210 10 O O B App. B
(High)
Velocity loop proportional gain on servo mode
193 3211 4211 4211 10 O O B App. B
(Low)
194 3212 4212 4212 10 O O B App. B
mode (common to High and Low)
Velocity loop integral gain on orientation (common
195 3213 4213 4213 10 O O B App. B
to High and Low)
Velocity loop integral gain on servo mode
196 3214 4214 4214 10 O O B App. B
(common to High and Low)
Primary delay time constant in dual position
197 3215 4215 4215 0 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
Ordinary orientation: Rate of change in position
gain upon completion of orientation
High-speed orientation: Rate of change in position
202 3220 4220 4220 100 O O B App. B
gain upon completion of orientation
Optimum orientation: Position feedforward
coefficient
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
Maximum amplitude in dual position feedback [in
206 3224 4224 4224 0 O O B Ι-1.5.10
Cs contour control]
Dual position feedback zero width [in Cs contour
207 3225 4225 4225 0 O O B Ι-1.5.10
control]
Detection level for orientation completion signal
208 3226 4226 4226 10 O O B App. B
(ORAR)
209 3227 4227 4227 33 orientation O O B App. B
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 O C App. B
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
Depends on
the model
Depends on
219 3237 4237 4237 Motor voltage on orientation O O C App. B
the model
- 672 -
Internal Standard Application

Classif
Referenc
e item
Depends on
220 3238 4238 4238 Motor voltage on servo mode O C App. B
the model
221 3239 4239 4239 100 O O B App. B
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 O O A App. B
226 3244 4244 4244 0 O O A App. B
227 3245 4245 4245 0 O O A App. B
228 3246 4246 4246 0 O O A App. B
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
Depends on
the model
Depends on
the model
Depends on
the model
Depends on
the model
Depends on
the model
Depends on
the model
Depends on
the model
Depends on
the model
244 3262 4262 4262 O C App. B
the model zero
245 3263 4263 4263 O C App. B
Depends on
the model
Depends on
the model
248 3266 4266 4266 O C App. B
Depends on
the model
250 3268 4268 4268 O C App. B
Depends on
the model
Depends on
the model
Depends on
the model
coefficient
Depends on
the model
255 3273 4273 4273 5 O B App. B
Depends on
the model
Depends on
the model
- 673 -

Referenc
e item
Depends on
the model
Depends on
the model
coefficient
260 3278 4278 4278 0 Time constant for velocity detecting filter O O B App. B
Depends on
the model
262 3280 4280 4280 O C App. B
263 3281 4281 4281 0 Spindle load monitor torque constant O B App. B
Depends on
the model
Depends on
267 3285 4285 4285 Motor voltage on servo mode O C App. B
the model
Depends on
the model
Depends on
the model
Depends on
the model
Depends on
the model
Depends on
the model
Depends on
the model
274 3292 4292 4292 O C App. B
the model zero
275 3293 4293 4293 O C App. B
Depends on
the model
Depends on
the model
278 3296 4296 4296 O C App. B
Depends on
the model
280 3298 4298 4298 O C App. B
Depends on
the model
Depends on
the model
Depends on
the model
coefficient
Depends on
the model
285 3303 4303 4303 5 O B App. B
Depends on
the model
Depends on
the model
Depends on
the model
coefficient
289 3307 4307 4307 O C App. B
- 674 -

Referenc
e item
290 3308 4308 4308 O C App. B
Depends on
291 3309 4309 4309 Motor model code O O C App. B
the model
292 Depends on
3310 4310 4310 Motor overheat detect level (2-word) O O C App. B
293 the model
Optimum orientation: Spindle acceleration
O O Ι-2.2.12
command (High)
304 3320 4320 4320 0 B
High-speed orientation: Motor acceleration at
O O Ι-5.14.7
deceleration time (High)
O O Ι-2.2.12
command (Low)
305 3321 4321 4321 0 B
O O Ι-5.14.7
deceleration time (Medium High)
O O App. B
command (High)
306 3322 4322 4322 0 B
O O Ι-5.14.7
deceleration time (Medium Low)
O O App. B
command (Low)
307 3323 4323 4323 0 B
O O Ι-5.14.7
deceleration time (Low)
Optimum orientation: One-rotation signal detection
O O Ι-2.2.12
speed
308 3324 4324 4324 0 B
O O App. B
O O App. B
speed
309 3325 4325 4325 0 B
O O App. B
Optimum orientation: Time constant for overshoot
compensation/Limit ratio for acceleration O O Ι-2.2.12
310 3326 4326 4326 0 command (High) B
High-speed orientation: Acceleration limitation
O O Ι-5.14.7
start speed at deceleration time (High)
compensation/Limit ratio for acceleration O O Ι-2.2.12
311 3327 4327 4327 0 command (Low) B
O O App. B
start speed at deceleration time (High)
Command multiplication for spindle orientation by
312 3328 4328 4328 0 O O B Ι-5.3.6
position coder
313 3329 4329 4329 0 O O B App. B
position coder
compensation/Limit ratio for acceleration O O B App. B
314 3330 4330 4330 0 command (High)
O O Ι-5.14.7
start speed at deceleration time (Low)
compensation/Limit ratio for acceleration O O App. B
315 3331 4331 4331 0 command (Low) B
O O App. B
start speed at deceleration time (Low)
316 3332 4332 4332 0 O B App. B
boost coefficient
317 3333 4333 4333 0 O B App. B
boost coefficient
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
Switching point used for an
320 3336 4336 4336 0 acceleration/deceleration time constant used for O O O O B Ι-2.5.8
Bell-shaped acceleration/deceleration time
324 3340 4340 4340 0 O O O O B Ι-2.5.8
constant during spindle synchronous control
- 675 -

Referenc
e item
Velocity loop gains override function on Cs
326 3342 4342 4342 0 ○ ○ B Ι-2.4.8
contouring control mode (HIGH)
Velocity loop gains override function on Cs
327 3343 4343 4343 0 ○ ○ B Ι-2.4.8
contouring control mode (LOW)
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
Ι-2.5.8
330 3346 4346 4346 0 Incomplete integration factor O O O O B
Ι-2.6.4
Master-slave speed difference state signal output
331 3347 4347 4347 0 O O B Ι-5.10.6
setting
Depends on
333 3349 4349 4349 Temperature monitoring time constant O O C App. B
the model
335 3351 4351 4351 0 Current detection offset compensation O O O O B Ι-2.6.4
Setting of the peak hold function for load meter
336H 3352 4352 4352 #1 0 O O B Ι-2.1.6
output
Setting of whether to enable/disable feed forward
#4 0 O O B Ι-5.8.8
at all times
Inter-spindle amplifier communication slave axis Ι-5.8.8
#6 0 O O B
setting Ι-5.11.4
Inter-spindle amplifier communication master axis Ι-5.8.8
#7 0 O O B
setting Ι-5.11.4
Velocity feedback signal setting in torque tandem
336L 3353 4353 4353 #1 0 O O B Ι-5.11.6
operation
Relationship of master/slave motor rotation
#2 0 O O B Ι-5.11.6
directions in torque tandem operation
Setting of the Cs axis position data transfer
#5 0 O O B Ι-2.4.8
function
#6 0 Whether to use the magnetic flux boost function O O B Ι-5.17.4
Excessive semi-closed loop/closed loop position
337 3354 4354 4354 0 O O A Ι-1.5.10
error alarm detection level [in Cs contour control]
Ι-1.3.2
338 3355 4355 4355 0 Motor sensor signal amplitude ratio compensation O O A
Ι-4.3
Motor sensor signal phase difference Ι-1.3.2
339 3356 4356 4356 0 O O A
compensation Ι-4.3
Spindle sensor signal amplitude ratio Ι-1.3.2
340 3357 4357 4357 0 O O A
compensation Ι-4.3
Spindle sensor signal phase difference Ι-1.3.2
341 3358 4358 4358 0 O O A
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
348 3365 4365 4365 0 Load meter compensation 1 O C App. B
Spindle synchronous orientation deceleration
352 3369 4369 4369 0 O O B Ι-5.5.6
coefficient
Filter time constant for spindle acceleration
353 3370 4370 4370 0 O O B Ι-2.2.12
detection
354 3371 4371 4371 -1 Reserved
355 3372 4372 4372 0 Spindle speed limit for safety 1 O O D
Setting of the peak hold function for load meter
356H 3373 4373 4373 #1 0 O O B App. B
output
356L 4374 #6 0 Whether to use the magnetic flux boost function O O B App. B
- 676 -

Referenc
e item
365 3383 4383 4383 0 O O B App. B
detection
Spindle EGB : Maximum acceleration/deceleration
366 3384 4384 4384 0 O O B Ι-5.8.8
value in automatic phase matching (16i)
Spindle EGB : time constant for free-running
367 3385 4385 4385 0 O O B Ι-5.8.8
phase matching (16i)
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
Resonance elimination filter 1 : attenuation center
373 3391 4391 4391 0 O O B Ι-4.2.2
frequency
Resonance elimination filter 1 : attenuation
374 3392 4392 4392 0 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
Setting of the detection lower limit of the
376H 3394 4394 4394 #2 0 O O A Ι-1.3.2
one-rotation signal
Setting of the fine acceleration/deceleration (FAD)
#3 0 O O B Ι-5.6.4
function (16i)
Acceleration/deceleration type of fine
#4 0 O O B Ι-5.6.4
acceleration/deceleration (FAD) (16i)
Whether to detect the alarm related to spindle
#5 0 O O A Ι-1.3.2
sensor polarity erroneous setting
Setting of parameter transfer from the CNC to
376L 3395 4395 4395 #3 0 O O O O B Ι-2.6.4
spindle software
Triggering of the disturbance input function
#6 0 O O B Ι-4.2.3
(vibration application function)
Setting of the disturbance input function (vibration
#7 0 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
Whether to detect a speed polarity error (spindle
#6 0 O O B Ι-5.10.6
alarm d0) in torque tandem operation
Stop method used on detection of a safety speed
378L 3399 4399 4399 #1 0 O O D
excess alarm (30i)
Setting of the emergency stop operation of the soft
#2 0 O O B Ι-2.1.6
start/stop function
Acceleration/deceleration time constant for Cs Ι-2.3.6
383 3406 4406 4406 0 O O B
contouring control/servo mode Ι-2.4.8
385 3408 4408 4408 0 Fine acceleration/deceleration time constant (16i) 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
Disturbance input function : measurement start
387 3410 4410 4410 0 O O O O B Ι-4.2.3
frequency
Disturbance input function : measurement end
388 3411 4411 4411 0 O O O O B Ι-4.2.3
frequency
Disturbance input function : measurement
389 3412 4412 4412 0 O O O O B Ι-4.2.3
frequency interval
Disturbance input function : number of
390 3413 4413 4413 0 O O O O B Ι-4.2.3
measurements per frequency
Disturbance input function : disturbance torque
391 3414 4414 4414 0 O O O O B Ι-4.2.3
command amplitude
Disturbance input function : motor speed
392 3415 4415 4415 0 O O O O B Ι-4.2.3
command for measurement
393 3416 4416 4416 0 O O B Ι-4.2.2
frequency
394 3417 4417 4417 0 O O B Ι-4.2.2
bandwidth
396 3419 4419 4419 0 O O B Ι-4.2.2
frequency
397 3420 4420 4420 0 O O B Ι-4.2.2
bandwidth
- 677 -

Referenc
e item
399 3422 4422 4422 0 O O B Ι-4.2.2
frequency
400 3423 4423 4423 0 O O B Ι-4.2.2
bandwidth
414 3437 4437 4437 -1 Reserved
416 3439 4439 4439 -1 Reserved
418 3441 4441 4441 -1 Reserved
424 3447 4447 4447 -1 Reserved
425 3448 4448 4448 0 Criterion level for spindle stop (30i) O O O O D
Velocity command-dependent over speed 2
441 3464 4464 4464 0 O O O O D Ι-2.6.4
(spindle alarm 92) detection offset level 2
442 3465 4465 4465 0 Excessive speed deviation level2 O O O O D Ι-2.6.4
443 3466 4466 4466 0 Excessive speed deviation detection time 2 O O O O D Ι-2.6.4
424 3447 4447 4447 -1 Reserved
425 3448 4448 4448 0 Criterion level for spindle stop O O D
Velocity command-dependent over speed
441 3464 4464 4464 0 O O O O D Ι-2.6.4
detection offset level
442 3465 4465 4465 0 Excessive speed deviation level 2 O O O O D Ι-2.6.4
443 3466 4466 4466 0 Excessive speed deviation detection time 2 O O O O D Ι-2.6.4
Setting of the detection lower limit of the
444H 3467 4467 4467 #2 0 O O A App. B
one-rotation signal
#3 0 O O B App. B
function (16i)
#4 0 O O B App. B
Whether to detect the alarm related to spindle
#5 0 O O A App. B
sensor polarity erroneous setting
Triggering of the disturbance input function
444L 3468 4468 4468 #6 0 O O B App. B
(vibration application function)
#7 0 O O B App. B
Stop method used on detection of a safety speed
446L 3472 4472 4472 #1 0 ○ ○ D
excess alarm (30i)
Setting of the emergency stop operation of the soft
#2 0 ○ ○ B App. B
start/stop function
453 3481 4481 4481 0 Feed-forward timing adjustment coefficient O O B App. B
Spindle EGB master side : denominator of
470 3498 4498 4498 0 arbitrary gear ratio between motor sensor and O O B Ι-5.8.8
spindle
Spindle EGB master side : numerator of arbitrary
471 3499 4499 4499 0 O O B Ι-5.8.8
gear ratio between motor sensor and spindle
Denominator of arbitrary gear ratio between
472 3500 4500 4500 0 O O A Ι-1.3.2
spindle sensor and spindle (High)
Numerator of arbitrary gear ratio between spindle
473 3501 4501 4501 0 O O A Ι-1.3.2
Denominator of arbitrary gear ratio between
474 3502 4502 4502 0 O O A Ι-1.3.2
spindle sensor and spindle (Low)
Numerator of arbitrary gear ratio between spindle
475 3503 4503 4503 0 O O A Ι-1.3.2
480 3508 4508 4508 0 Rate of change in acceleration at soft start/stop O O O O B Ι-2.1.6
Excessive speed deviation alarm detection level
487 3515 4515 4515 0 O O D Ι-2.5.8
on spindle synchronous control
Excessive positional deviation alarm detection
488 3516 4516 4516 0 O O D Ι-2.5.8
level on spindle synchronous control
Primary delay time constant in dual position
492 3520 4520 4520 0 O O B Ι-5.10.5
feedback [in servo mode]
- 678 -

Referenc
e item
Maximum amplitude in dual position feedback [in
493 3521 4521 4521 0 O O B Ι-5.10.5
servo mode]
494 3522 4522 4522 0 Dual position feedback zero width [in servo mode] O O B Ι-5.10.5
Excessive semi-closed loop/closed loop position
495 3523 4523 4523 0 O O B Ι-1.5.10
error alarm detection level [in servo mode]
Temperature difference between warning level
499 3527 4527 4527 0 O O O O D Ι-2.6.4
and alarm level
Presence or absence of power consumption
512L - - 4541 #0 ○ ○ ○ ○ E
calculation
Setting of the output unit of accumulated power
#1 ○ ○ ○ ○ E
consumption
#2 ○ ○ ○ ○ E
consumption
Orientation speed restriction rate 1/orientation
557 - - 4590 0 ○ ○ B Ι-2.2.12
speed restriction rate 2 (HIGH)
558 - - 4591 0 ○ ○ B Ι-2.2.12
speed restriction rate 2 (LOW)
560 4593 Spindle amplifier loss coefficient 1 ○ ○ ○ ○
561 4594 Spindle amplifier loss coefficient 2 ○ ○ ○ ○
562 4595 Common power supply loss coefficient 1 ○ ○ ○ ○
563 4596 Common power supply loss coefficient 2 ○ ○ ○ ○
Motor voltage after completion of optimum
574 - - 4607 0 ○ ○ B Ι-2.2.12
orientation
682 - - 4720 0 ○ ○ B App. B
A.2 αCi SERIES SPINDLE PARAMETER TABLE

αCi series spindle parameters are classified into the following types:
(operating modes)
Internal Standard Classif

Referenc
e item
F-xxx data n
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
#4 0 SM pin output data selection B ΙΙΙ-2.5.4
Whether to use the rotation direction signal (SFR/SRV) function
#5 0 B ΙΙΙ-2.3.7
on servo mode
Whether to use the rotation direction signal (SFR/SRV) function
#6 0 B ΙΙΙ-2.4.8
on 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
2L 3005 4005 4005 #0 0 Setting of the velocity feedback method A ΙΙΙ-1.3.2
- 679 -

Referenc
e item
F-xxx data n
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
Automatic detection of one-rotation signal during spindle
#3 0 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
Whether to detect the alarms (spindle alarms 41, 42, and 47)
#6 0 related to the position feedback signal (when non-Cs contouring A ΙΙΙ-1.3.2
control mode is set)
Motor power turn-off method when spindle alarm 24 (serial data
4L 3009 4009 4009 #2 0 D ΙΙΙ-2.5.4
Whether to output the load detection signals (LDT1) during
#4 0 B ΙΙΙ-2.1.6
#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
Depends on
#4 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
Depends on
6L 3013 4013 4013 #2 Current dead-band data C ΙΙΙ-2.5.3
the model
Depends on
#3 Current dead-band data C ΙΙΙ-2.5.3
the model
Depends on
the model
Depends on
the model
Depends on
the model
7L 3015 4015 4015 #0 0 Whether to use the spindle orientation function B ΙΙΙ-2.2.8
Whether to detect the alarm (spindle alarms 46) related to
8H 3016 4016 4016 #6 0 A ΙΙΙ-1.3.2
feedback of the position detection signal for threading
Function for newly detecting the one-rotation signal before
#7 0 A ΙΙΙ-1.3.2
entering position control mode
Setting of shortcut orientation from stop state in position coder
8L 3017 4017 4017 #7 0 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/30i) 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
Depends on
30 3040 4040 4040 Velocity loop proportional gain on velocity control mode (High) B ΙΙΙ-2.1.6
the model
Depends on
31 3041 4041 4041 Velocity loop proportional gain on velocity control mode (Low) B ΙΙΙ-2.1.6
the model
Depends on
32 3042 4042 4042 Velocity loop proportional gain on orientation (High) B ΙΙΙ-2.2.9
the model
Depends on
33 3043 4043 4043 Velocity loop proportional gain on orientation (Low) B ΙΙΙ-2.2.9
the model
Depends on Velocity loop proportional gain on servo mode/spindle ΙΙΙ-2.3.7
34 3044 4044 4044 B
the model synchronous control (High) ΙΙΙ-2.4.8
- 680 -

Referenc
e item
F-xxx data n
Depends on Velocity loop proportional gain on servo mode/spindle ΙΙΙ-2.3.7
35 3045 4045 4045 B
the model synchronous control (Low) ΙΙΙ-2.4.8
Depends on
38 3048 4048 4048 Velocity loop integral gain on velocity control mode (High) B ΙΙΙ-2.1.6
the model
Depends on
39 3049 4049 4049 Velocity loop integral gain on velocity control mode (Low) B ΙΙΙ-2.1.6
the model
Depends on
40 3050 4050 4050 Velocity loop integral gain on orientation (High) B ΙΙΙ-2.2.9
the model
Depends on
41 3051 4051 4051 Velocity loop integral gain on orientation (Low) B ΙΙΙ-2.2.9
the model
Depends on Velocity loop integral gain on servo mode/spindle synchronous ΙΙΙ-2.3.7
42 3052 4052 4052 B
the model control (High) ΙΙΙ-2.4.8
Depends on Velocity loop integral gain on servo mode/spindle synchronous ΙΙΙ-2.3.7
43 3053 4053 4053 B
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
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
ΙΙΙ-2.3.7
55 3065 4065 4065 1000 Position gain on servo mode/spindle synchronous control (High) B
ΙΙΙ-2.4.8
Position gain on servo mode/spindle synchronous control ΙΙΙ-2.3.7
56 3066 4066 4066 1000 B
(Medium High) ΙΙΙ-2.4.8
Position gain on servo mode/spindle synchronous control ΙΙΙ-2.3.7
57 3067 4067 4067 1000 B
(Medium Low) ΙΙΙ-2.4.8
ΙΙΙ-2.3.7
58 3068 4068 4068 1000 Position gain on servo mode/spindle synchronous control (Low) B
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
Depends on Regenerative power limit for high-speed zone/regenerative power
70 3080 4080 4080 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
ΙΙΙ-2.3.7
75 3085 4085 4085 60 Motor voltage on servo mode/spindle synchronous control mode C
ΙΙΙ-2.4.8
Gear ratio parameter setting error alarm (spindle alarm 35)
76 3086 4086 4086 0 D ΙΙΙ-2.5.4
detection 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
Rate of change in position gain during reference position return
81 3091 4091 4091 100 B ΙΙΙ-2.3.7
on 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
Depends on
90 3100 4100 4100 Base speed of motor output specifications C ΙΙΙ-2.5.3
the model
- 681 -

Referenc
e item
F-xxx data n
Depends on
91 3101 4101 4101 Output limit for motor output specifications C ΙΙΙ-2.5.3
the model
Depends on
92 3102 4102 4102 Excitation voltage saturation speed at no-load C ΙΙΙ-2.5.3
the model
Depends on
93 3103 4103 4103 Compensation data for resistance C ΙΙΙ-2.5.3
the model
Depends on
94 3104 4104 4104 Current loop proportional gain C ΙΙΙ-2.5.3
the model
Depends on
95 3105 4105 4105 Current loop integral gain C ΙΙΙ-2.5.3
the model
Depends on
96 3106 4106 4106 D-axis current loop gain C ΙΙΙ-2.5.3
the model
Depends on
97 3107 4107 4107 Q-axis current loop gain C ΙΙΙ-2.5.3
the model
Depends on
98 3108 4108 4108 Q-axis current deviation limitation coefficient C ΙΙΙ-2.5.3
the model
Depends on Filter time constant for processing saturation related to the
99 3109 4109 4109 C ΙΙΙ-2.5.3
the model voltage command
Depends on
100 3110 4110 4110 Current conversion constant C ΙΙΙ-2.5.3
the model
Depends on
101 3111 4111 4111 Secondary current coefficient C ΙΙΙ-2.5.3
the model
Depends on Criterion level for saturation related to the voltage command/PWM
102 3112 4112 4112 C ΙΙΙ-2.5.3
the model command clamp value
Depends on
103 3113 4113 4113 Slip constant C ΙΙΙ-2.5.3
the model
Depends on
105 3115 4115 4115 PWM command clamp value at deceleration C ΙΙΙ-2.5.3
the model
Depends on
106 3116 4116 4116 Motor leakage constant C ΙΙΙ-2.5.3
the model
Depends on Regular-time voltage compensation coefficient for high-speed
107 3117 4117 4117 C ΙΙΙ-2.5.3
the model zone/regular-time motor voltage coefficient
Depends on Acceleration-time voltage compensation coefficient for high-speed
108 3118 4118 4118 C ΙΙΙ-2.5.3
the model zone/acceleration-time motor voltage coefficient
109 3119 4119 4119 C ΙΙΙ-2.5.3
Depends on
110 3120 4120 4120 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
Depends on
117 3127 4127 4127 Value displayed on load meter at maximum output C ΙΙΙ-2.5.3
the model
Depends on Compensation coefficient between the specification and true
118 3128 4128 4128 C ΙΙΙ-2.5.3
the model base/maximum torque curve compensation coefficient
Depends on Current loop proportional gain speed coefficient/current phase
120 3130 4130 4130 C ΙΙΙ-2.5.3
the model delay compensation coefficient
Depends on
121 3131 4131 4131 Dead-band compensation hysteresis B ΙΙΙ-2.5.3
the model
Depends on
123 3133 4133 4133 Motor model code C ΙΙΙ-2.5.3
the model
124 Depends on
3134 4134 4134 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
Switching point used for an acceleration/deceleration time
320 3336 4336 4336 0 B ΙΙΙ-2.4.8
constant used for spindle synchronous control
Bell-shaped acceleration/deceleration time constant during
324 3340 4340 4340 0 B ΙΙΙ-2.4.8
- 682 -
A.3 BiS SERIES SPINDLE PARAMETER TABLE

Spindle parameters are classified into the following types:
(operating modes)
E : Parameters related to the setting of a power consumption monitor (see the FANUC Series
30i/31i/32i-A Power Consumption Monitor Specification (A-92345).)
Internal Standard Reference

data No. 15i 16i 30i bit initial setting Contents Classification
item
F-xxx data
Rotation direction relationship between the spindle and
0H 3000 4000 4000 #0 0 A ΙV-1.3.2
motor
Spindle rotation direction when a positive (+) move
#1 0 B ΙV-2.4.8
command is specified on Cs contouring control
#3 0 B ΙV-2.4.8
Return direction for the reference position on servo
#4 0 B ΙV-2.3.7
mode
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
Whether to use the rotation direction signal (SFR/SRV)
#4 0 B ΙV-2.4.8
function on Cs contouring control
#5 0 B ΙV-2.3.7
function on servo mode
#6 0 B ΙV-2.5.8
function on spindle synchronous control
Whether to use the CMR (servo mode Cs contouring)
#7 0 B
function in servo mode
1L 3003 4003 4003 #0 0 Spindle orientation method B ΙV-2.2.12
#2 0 Rotation direction during spindle orientation B ΙV-2.2.12
#3 0 Rotation direction during spindle orientation B ΙV-2.2.12
#4 0 Teeth number setting of spindle sensor A ΙV-1.3.2
2L 3005 4005 4005 #0 0 Command resolution for Cs contouring control B ΙV-2.4.8
3H 3006 4006 4006 #1 0 Increment system of gear ratio A ΙV-1.3.2
Automatic detection of one-rotation signal during spindle
#3 0 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
Whether to use the command arbitrary gear ratio (CMR)
#7 0 B ΙV-2.3.7
function on rigid tapping
#5
3L 3007 4007 4007 0 Whether to detect a feedback signal disconnection A ΙV-1.3.2
Whether to detect the alarms (spindle alarms 41, 42, 47,

81, 82, 83, 85, 86, and 87) related to the position
#6 0 A ΙV-1.3.2
feedback 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
- 683 -

item
F-xxx data
#3 0 Sets the current command. C ΙV-2.6.3
Depends on
#4 Setting of output limitation method C ΙV-2.6.3
the model
#5 0 Whether to use the SSM B IV-1.4.4
Reference magnetic pole position selection IV-1.5.3
#6 0 B
(Whether to use the AMR offset function) IV-1.5.5
4L 3009 4009 4009 #0 0 Increment system of velocity loop gain B ΙV-2.6.4
Motor power turn-off method when spindle alarm 24
#2 0 D ΙV-2.6.4
(serial data transfer error) is issued
Whether to output the load detection signals (LDT1,
#4 0 B ΙV-2.1.6
LDT2) during acceleration/deceleration
Depends on
#5 Setting related to magnetic flux reduction speed C ΙV-2.6.3
the model
#6 0 Analog override type B ΙV-2.1.6
Depends on
5H 3010 4010 4010 #0 Motor sensor type A ΙV-1.3.2
the model
Depends on
#1 Motor sensor type A ΙV-1.3.2
the model
Depends on
#2 Motor sensor type A ΙV-1.3.2
the model
Depends on
5L 3011 4011 4011 #0 Teeth number setting of motor sensor A ΙV-1.3.2
the model
Depends on
#1 Teeth number setting of motor sensor A ΙV-1.3.2
the model
Depends on
#2 Teeth number setting of motor sensor A ΙV-1.3.2
the model
Depends on
#3 Number of motor poles C ΙV-2.6.3
the model
#4 C ΙV-2.6.3
Depends on
#7 Number of motor poles C ΙV-2.6.3
the model
Depends on
6H 3012 4012 4012 #0 Setting of PWM carrier frequency C ΙV-2.6.3
the model
Depends on
#1 Setting of PWM carrier frequency C ΙV-2.6.3
the model
Depends on
#2 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
Depends on
6L 3013 4013 4013 #2 Current dead-band data C ΙV-2.6.3
the model
Depends on
#3 Current dead-band data C ΙV-2.6.3
the model
Depends on
the model
Depends on
the model
Depends on
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-2.2.12
Whether to use the unexpected disturbance torque
#1 0 B ΙV-5.7.5
detection function
IV-2.4.8
8H 3016 4016 4016 #3 0 Setting of the smoothing function in feed-forward control B
IV-5.8.7
#5 0 86) related to position feedback (on Cs contouring A ΙV-1.3.2
control mode)
Whether to detect the alarm (spindle alarms 46) related
#6 0 A ΙV-1.3.2
to feedback of the position detection signal for threading
Function for newly detecting the one-rotation signal
#7 0 A ΙV-1.3.2
before entering position control mode
- 684 -

item
F-xxx data
Setting of shortcut orientation from stop state in position
8L 3017 4017 4017 #7 0 B ΙV-2.2.12
coder method spindle orientation
9H 3018 4018 4018 #3 0 Type of position coder method orientation B IV-2.2.12
Optimum orientation: Setting of velocity feedforward
#4 0 B IV-2.2.12
(CTH1A=0)
Optimum orientation: Setting of velocity feedforward
(CTH1A=1) IV-2.2.12
#5 0 B
High-speed orientation: Velocity command IV-5.14.7
#6 0 Type of position coder method orientation B IV-2.2.12
9L 3019 4019 4019 #2 1 Whether to use torque clamp at zero speed B ΙV-2.6.4
ΙV-1.1.2
#7 0 Automatic parameter setting function (16i/30i) B
ΙV-2.6.4
Depends on ΙV-1.4.4
10 3020 4020 4020 Maximum motor speed C
the model ΙV-2.6.3
11 3021 4021 4021 100 Maximum speed on Cs contouring control mode B ΙV-2.4.8
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-2.2.12
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
Compensation data for spindle phase synchronous
25 3035 4035 4035 0 B ΙV-2.5.8
control
ΙV-2.4.8
26 3036 4036 4036 0 Feed-forward coefficient B
ΙV-5.8.8
ΙV-2.4.8
27 3037 4037 4037 0 Feed-forward coefficient of velocity loop B ΙV-5.6.4
ΙV-5.8.8
ΙV-2.2.12
28 3038 4038 4038 0 Conventional method orientation, High-speed B
ΙV-5.14.7
orientation: Spindle orientation speed
29 3039 4039 4039 0 Reserved C
Velocity loop proportional gain on velocity control mode
30 3040 4040 4040 10 B ΙV-2.1.6
(High)
31 3041 4041 4041 10 B ΙV-2.1.6
(Low)
32 3042 4042 4042 10 Velocity loop proportional gain on orientation (High) B ΙV-2.2.12
33 3043 4043 4043 10 Velocity loop proportional gain on orientation (Low) B ΙV-2.2.12
Velocity loop proportional gain on servo mode/spindle ΙV-2.3.7
34 3044 4044 4044 10 B
synchronous control (High) ΙV-2.5.8
Velocity loop proportional gain on servo mode/spindle ΙV-2.3.7
35 3045 4045 4045 10 B
synchronous control (Low) ΙV-2.5.8
Velocity loop proportional gain on Cs contouring control
36 3046 4046 4046 30 B ΙV-2.4.8
(High)
Velocity loop proportional gain on Cs contouring control
37 3047 4047 4047 30 B ΙV-2.4.8
(Low)
Velocity loop integral gain on velocity control mode
38 3048 4048 4048 10 B ΙV-2.1.6
(High)
39 3049 4049 4049 10 B ΙV-2.1.6
(Low)
40 3050 4050 4050 10 Velocity loop integral gain on orientation (High) B ΙV-2.2.12
41 3051 4051 4051 10 Velocity loop integral gain on orientation (Low) B ΙV-2.2.12
Velocity loop integral gain on servo mode/spindle ΙV-2.3.7
42 3052 4052 4052 10 B
synchronous control (High) ΙV-2.5.8
Velocity loop integral gain on servo mode/spindle ΙV-2.3.7
43 3053 4053 4053 10 B
synchronous control (Low) ΙV-2.5.8
- 685 -

item
F-xxx data
4054 4054 Velocity loop integral gain on Cs contouring control
44 3054 50 B ΙV-2.4.8
(High)
Velocity loop integral gain on Cs contouring control
45 3055 4055 4055 50 B ΙV-2.4.8
(Low)
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-2.2.12
51 3061 4061 4061 1000 Position gain on orientation (Medium High) B ΙV-2.2.12
52 3062 4062 4062 1000 Position gain on orientation (Medium Low) B ΙV-2.2.12
53 3063 4063 4063 1000 Position gain on orientation (Low) B ΙV-2.2.12
Ordinary orientation: Rate of change in position gain
upon completion of orientation
ΙV-2.2.12
54 3064 4064 4064 100 High-speed orientation: Rate of change in position gain B
ΙV-5.14.7
Optimum orientation: Position feedforward coefficient
Position gain on servo mode/spindle synchronous ΙV-2.3.7
55 3065 4065 4065 1000 B
control (High) ΙV-2.5.8
56 3066 4066 4066 1000 B
control (Medium High) ΙV-2.5.8
57 3067 4067 4067 1000 B
control (Medium Low) ΙV-2.5.8
58 3068 4068 4068 1000 B
control (Low) ΙV-2.5.8
59 3069 4069 4069 3000 Position gain on Cs contouring control (High) B ΙV-2.4.8
60 3070 4070 4070 3000 Position gain on Cs contouring control (Medium High) B ΙV-2.4.8
61 3071 4071 4071 3000 Position gain on Cs contouring control (Medium Low) B ΙV-2.4.8
62 3072 4072 4072 3000 Position gain on Cs contouring control (Low) B ΙV-2.4.8
63 3073 4073 4073 0 Grid shift on servo mode B ΙV-2.3.7
Reference position return speed on Cs contouring ΙV-2.3.7
64 3074 4074 4074 0 B
control/servo mode ΙV-2.4.8
65 3075 4075 4075 10 Detection level for orientation completion signal (ORAR) B ΙV-2.2.12
orientation
66 3076 4076 4076 33 High-speed orientation: Reserved B ΙV-2.2.12
Optimum orientation: Bell-shaped acceleration /
deceleration time constant
67 3077 4077 4077 0 Orientation stop position shift B ΙV-2.2.12
70 3080 4080 4080 C ΙV-2.6.3
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
Current ratio/motor stop confirmation time in magnetic ΙV-1.5.5
73 3083 4083 4083 0 C
pole detection operation ΙV-2.6.3
ΙV-1.5.3
74 3084 4084 4084 0 AMR offset C ΙV-1.5.5
ΙV-2.6.3
ΙV-1.5.3
75 3085 4085 4085 0 AMR offset fine adjustment C ΙV-1.5.5
ΙV-2.6.3
Depends on
76 3086 4086 4086 Inductance ratio C ΙV-2.6.3
the model
77 3087 4087 4087 115 Overspeed level D ΙV-2.6.4
Level for detecting excess velocity error when motor is
78 3088 4088 4088 75 D ΙV-2.6.4
restrained
Level for detecting excess velocity error when motor
79 3089 4089 4089 200 D ΙV-2.6.4
rotates
80 3090 4090 4090 90 Overload detection level D ΙV-2.6.4
Rate of change in position gain during reference position
81 3091 4091 4091 100 B ΙV-2.3.7
return on servo mode
82 3092 4092 4092 100 B ΙV-2.4.8
return on Cs contouring control
- 686 -

item
F-xxx data
Disturbance torque compensation constant (acceleration
84 3094 4094 4094 0 B ΙV-2.4.8
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
ΙV-2.3.7
89 3099 4099 4099 0 Delay time for motor excitation B
ΙV-2.4.8
Depends on
90 3100 4100 4100 Base speed of motor output specifications C ΙV-2.6.3
the model
Depends on
91 3101 4101 4101 Output limit for motor output specifications C ΙV-2.6.3
the model
Depends on
92 3102 4102 4102 Base speed C ΙV-2.6.3
the model
Depends on Magnetic flux reduction start speed / Current pattern
93 3103 4103 4103 C ΙV-2.6.3
the model switching speed
Depends on
94 3104 4104 4104 Current loop proportional gain C ΙV-2.6.3
the model
95 3105 4105 4105 0 Reserved C
Depends on
96 3106 4106 4106 Current loop integral gain C ΙV-2.6.3
the model
97 3107 4107 4107 0 Reserved C
Depends on
98 3108 4108 4108 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
Depends on
100 3110 4110 4110 Current conversion constant C ΙV-2.6.3
the model
Depends on
101 3111 4111 4111 Maximum current constant C ΙV-2.6.3
the model
Depends on
102 3112 4112 4112 PWM command clamp value C ΙV-2.6.3
the model
Depends on
103 3113 4113 4113 Current constant for magnetic flux reduction C ΙV-2.6.3
the model
104 3114 4114 4114 0 Reserved C
Depends on
105 3115 4115 4115 PWM command clamp value at deceleration C ΙV-2.6.3
the model
Depends on Counter electromotive voltage compensation constant
106 3116 4116 4116 C ΙV-2.6.3
the model for magnetic flux reduction speed at maximum load
Depends on Interference voltage compensation constant for
107 3117 4117 4117 C ΙV-2.6.3
the model magnetic flux reduction speed at maximum load
108 3118 4118 4118 0 Reserved C
Depends on
109 3119 4119 4119 Interference voltage compensation C ΙV-2.6.3
the model
Depends on Dead-band rectangular wave component zero
110 3120 4120 4120 C ΙV-2.6.3
the model voltage/dead-band data
Time constant for changing the torque (TCMD filter time
111 3121 4121 4121 5 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
Depends on
117 3127 4127 4127 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
Depends on
120 3130 4130 4130 Current phase delay compensation coefficient C ΙV-2.6.3
the model
121 3131 4131 4131 0 B ΙV-2.4.8
contouring control)
Depends on ΙV-1.1.2
123 3133 4133 4133 Motor model code C
the model ΙV-2.6.3
124 Depends on
3134 4134 4134 Motor overheat detect level (2-word) C ΙV-2.6.3
125 the model
126
3135 4135 4135 0 Grid shift during Cs contouring control mode l (2-word) B ΙV-2.4.8
127
- 687 -

item
F-xxx data
152 3160 4160 4160 0 Hysteresis of speed detection level B ΙV-5.1.7
Integral gain of velocity loop during cutting feed on Cs
154 3162 4162 4162 0 B ΙV-2.4.8
contouring control mode (High)
155 3163 4163 4163 0 B ΙV-2.4.8
contouring control mode (Low)
Depends on
161 3169 4169 4169 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 A ΙV-1.3.2
Numerator of arbitrary gear ratio between motor sensor
164 3172 4172 4172 0 A ΙV-1.3.2
and spindle (High)
165 3173 4173 4173 0 A ΙV-1.3.2
166 3174 4174 4174 0 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
Optimum orientation: Spindle acceleration command
(High) ΙV-2.2.12
304 3320 4320 4320 0 B
High-speed orientation: Motor acceleration at ΙV-5.14.7
Optimum orientation: Spindle acceleration command
(Low) ΙV-2.2.12
305 3321 4321 4321 0 B
High-speed orientation: Motor acceleration at ΙV-5.14.7
deceleration time (Medium High)
306 3322 4322 4322 0 B ΙV-5.14.7
deceleration time (Medium Low)
307 3323 4323 4323 0 B ΙV-5.14.7
308 3324 4324 4324 0 B ΙV-2.2.12
speed
compensation/Limit ratio for acceleration command
(High) ΙV-2.2.12
310 3326 4326 4326 0 B
ΙV-5.14.7
High-speed orientation: Acceleration limitation start
speed at deceleration time (High)
311 3327 4327 4327 0 compensation/Limit ratio for acceleration command B ΙV-2.2.12
(Low)
312 3328 4328 4328 0 B ΙV-5.3.6
position coder
High-speed orientation: Acceleration limitation start
314 3330 4330 4330 0 B ΙV-5.14.7
speed at deceleration time (Low)
318 3334 4334 4334 0 Number of motor sensor arbitrary teeth A ΙV-1.3.2
Switching point used for an acceleration/deceleration
320 3336 4336 4336 0 B ΙV-2.5.8
time constant used for spindle synchronous control
Bell-shaped acceleration/deceleration time constant
324 3340 4340 4340 0 B ΙV-2.5.8
during spindle synchronous control
325 3341 4341 4341 0 Unexpected disturbance torque detection level B ΙV-5.7.5
Velocity loop gains override function on Cs contouring
326 3342 4342 4342 0 B ΙV-2.4.8
control mode (ＨＩＧＨ)
Velocity loop gains override function on Cs contouring
327 3343 4343 4343 0 B ΙV-2.4.8
control mode (LOW)
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
ΙV-2.5.8
330 3346 4346 4346 0 Incomplete integration factor 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
Setting of whether to enable/disable feed forward at all
#4 0 B ΙV-5.8.8
times
#6 0 Inter-spindle amplifier communication slave axis setting B ΙV-5.8.8
- 688 -

item
F-xxx data
Inter-spindle amplifier communication master axis
#7 0 B ΙV-5.8.8
setting
336L 3353 4353 4353 #5 0 Setting of the Cs axis position data transfer function B ΙV-2.4.8
ΙV-1.3.2
338 3355 4355 4355 0 Motor sensor signal amplitude ratio compensation A
ΙV-4.3
ΙV-1.3.2
339 3356 4356 4356 0 Motor sensor signal phase difference compensation A
ΙV-4.3
345 3362 4362 4362 0 Load meter compensation 1 C ΙV-2.6.3
352 3369 4369 4369 0 Spindle synchronous orientation deceleration coefficient B ΙV-5.5.6
353 3370 4370 4370 0 Filter time constant for spindle acceleration detection B ΙV-2.2.12
354 3371 4371 4371 -1 Reserved
355 4372 4372 4372 0 Spindle speed limit for safety 1 D
Spindle EGB: Maximum acceleration/deceleration value
366 3384 4384 4384 0 B ΙV-5.8.8
in automatic phase matching (16i)
Spindle EGB: time constant for free-running phase
367 3385 4385 4385 0 B ΙV-5.8.8
matching (16i)
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
Resonance elimination filter 1: attenuation center
373 3391 4391 4391 0 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
Setting of the detection lower limit of the one-rotation
376H 3394 4394 4394 #2 0 A ΙV-1.3.2
signal
#3 0 B ΙV-5.6.4
function (16i)
#4 0 B ΙV-5.6.4
Whether to detect the alarm related to spindle sensor
#5 0 A ΙV-1.3.2
polarity erroneous setting
Setting of parameter transfer from the CNC to spindle
376L 3395 4395 4395 #3 0 B ΙV-2.6.4
software
Triggering of the disturbance input function (vibration
#6 0 B ΙV-4.2.3
#7 0 B ΙV-4.2.3
378H 3398 4398 4398 #2 0 Selects a magnetic pole detection mode 1 C ΙV-1.5.5
Specifies whether to enable the soft start/stop function
378L 3399 4399 4399 #2 0 B ΙV-2.1.6
when emergency stop operation is performed
Determines whether to detect pole position count miss
#5 0 D ΙV-2.6.4
alarm (Alarm 91)
#6 0 Selects a pole position detection mode C ΙV-1.5.5
Acceleration/deceleration time constant for Cs ΙV-2.3.6
383 3406 4406 4406 0 B
contouring control/servo mode ΙV-2.4.8
385 3408 4408 4408 0 Fine acceleration/deceleration time constant (16i) 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
Disturbance input function: measurement frequency
389 3412 4412 4412 0 B ΙV-4.2.3
interval
Disturbance input function: number of measurements
390 3413 4413 4413 0 B ΙV-4.2.3
per frequency
Disturbance input function: disturbance torque command
391 3414 4414 4414 0 B ΙV-4.2.3
amplitude
Disturbance input function: motor speed command for
392 3415 4415 4415 0 B ΙV-4.2.3
measurement
393 3416 4416 4416 0 B ΙV-4.2.2
frequency
- 689 -

item
F-xxx data
396 3419 4419 4419 0 B ΙV-4.2.2
frequency
399 3422 4422 4422 0 B ΙV-4.2.2
frequency
414 3437 4437 4437 -1 Reserved
416 3439 4439 4439 -1 Reserved
417 3440 4440 4440 0 Spindle speed limit for safety 3
418 3441 4441 4441 -1 Reserved
424 3447 4447 4447 -1 Reserved
425 3448 4448 4448 0 Criterion level for spindle stop (30i) D
426 3449 4449 4449 0 Direction detection current/polarity determination current C ΙV-1.5.5
Travel distance allowance magnification/velocity
427 3450 4450 4450 0 C ΙV-1.5.5
feedback threshold
428 3451 4451 4451 0 Reserved
Unexpected rotation detection level (Alarm 90 detection
440 3463 4463 4463 0 D ΙV-2.6.4
level)
Velocity command-dependent over speed (spindle alarm
441 3464 4464 4464 0 D ΙV-2.6.4
92) detection offset level
442 3465 4465 4465 0 Excessive speed deviation level2 D ΙV -2.6.4
443 3466 4466 4466 0 Excessive speed deviation detection time 2 D ΙV -2.6.4
Unexpected rotation detection level (Alarm 90 detection
440 3463 4463 4463 0 D ΙV-2.6.4
level)
Velocity command-dependent over speed detection
441 3464 4464 4464 0 D ΙV-2.6.4
offset level
442 3465 4465 4465 0 Excessive speed deviation level 2 D ΙV-2.6.4
443 3466 4466 4466 0 Excessive speed deviation detection time 2 D ΙV-2.6.4
Spindle EGB master side: denominator of arbitrary gear
470 3498 4498 4498 0 B ΙV-5.8.8
ratio between motor sensor and spindle
Spindle EGB master side: numerator of arbitrary gear
471 3499 4499 4499 0 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
Excessive speed deviation alarm detection level on
487 3515 4515 4515 0 D ΙV-2.5.8
Excessive positional deviation alarm detection level on
488 3516 4516 4516 0 D ΙV-2.5.8
Temperature difference between warning level and
499 3527 4527 4527 0 D ΙV-2.6.4
alarm level
504 - 4532 4532 0 Arbitrary data output function number B ΙV-1.5.5
512L - - 4541 #0 0 Presence or absence of power consumption calculation E
#1 0 E
consumption
#2 0 E
consumption
560 4593 0 Spindle amplifier loss coefficient 1 E
561 4594 0 Spindle amplifier loss coefficient 2 E
562 4595 0 Common power supply loss coefficient 1 E
563 4596 0 Common power supply loss coefficient 2 E
A.4 βiIc SERIES SPINDLE PARAMETER TABLE

βiIc series spindle parameters are classified into the following types:
(operating modes)
- 690 -

Intern
Standard Classi
al data Referenc
initial setting Contents fi-cati
No. 0i Mate-TD bit e item
data on
F-xxx
0H 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 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 4002 #0 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
1L 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
2L 4005 #0 0 Setting of the velocity feedback method A ΙΙΙ-1.3.2
3H 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
#5 0 Setting of analog override range B ΙΙΙ-2.1.6
3L 4007 #5 0 Whether to detect a feedback signal disconnection A ΙΙΙ-1.3.2
#6 0 Whether to detect the alarms (spindle alarms 41, 42, and 47) related A ΙΙΙ-1.3.2
to the position feedback signal (when non-Cs contouring control
mode is set)
4008 #3 0 Presence or absence of measures against a belt slip C V-2.5.3
4L 4009 #2 0 Motor power turn-off method when spindle alarm 24 (serial data D ΙΙΙ-2.5.4
#4 0 Whether to output the load detection signals (LDT1) during B ΙΙΙ-2.1.6
#6 0 Analog override type B ΙΙΙ-2.1.6
5L 4011 #3 1 Number of motor poles C ΙΙΙ-2.5.3
#4 Depends on C ΙΙΙ-2.5.3
Setting of maximum output during acceleration/deceleration
the model
#7 0 Number of motor poles C ΙΙΙ-2.5.3
6H 4012 #0 0 Setting of PWM carrier frequency C ΙΙΙ-2.5.3
6L 4013 #2 Depends on C ΙΙΙ-2.5.3
Current dead-band data
the model
the model
the model
the model
the model
7L 4015 #0 0 Whether to use the spindle orientation function B ΙΙΙ-2.2.8
8H 4016 #6 0 Whether to detect the alarm (spindle alarms 46) related to feedback A ΙΙΙ-1.3.2
of 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 4017 #7 0 Setting of shortcut orientation from stop state in position coder B ΙΙΙ-2.2.9
method spindle orientation
9L 4019 #2 1 Whether to use torque clamp at zero speed B ΙΙΙ-2.5.4
- 691 -
Intern
Standard Classi
al data Referenc
data on
F-xxx
#7 0 Automatic parameter setting function (16i/30i) B ΙΙΙ-2.1.6
10 4020 6000 Maximum motor speed C ΙΙΙ-2.1.6
12 4022 150 Speed arrival detection level (SAR) B ΙΙΙ-2.5.4
13 4023 30 Speed detection level (SDT) B ΙΙΙ-2.5.4
14 4024 75 Zero speed detection level (SST) B ΙΙΙ-2.5.4
15 4025 50 Limited torque (TLMH) B ΙΙΙ-2.5.4
16 4026 83 Load detection level 1 (LDT1) B ΙΙΙ-2.5.4
21 4031 0 Stop position of position coder method orientation B ΙΙΙ-2.2.9
28 4038 0 Spindle orientation speed B ΙΙΙ-2.2.9
30 4040 Depends on B ΙΙΙ-2.1.6
Velocity loop proportional gain on velocity control mode (High)
the model
Velocity loop proportional gain on velocity control mode (Low)
the model
Velocity loop proportional gain on orientation (High)
the model
Velocity loop proportional gain on orientation (Low)
the model
Velocity loop proportional gain on servo mode (High)
the model ΙΙΙ-2.4.8
Velocity loop proportional gain on servo mode (Low)
Velocity loop integral gain on velocity control mode (High)
the model
Velocity loop integral gain on velocity control mode (Low)
the model
Velocity loop integral gain on orientation (High)
the model
Velocity loop integral gain on orientation (Low)
the model
42 4052 Depends on Velocity loop integral gain on servo mode (High) B ΙΙΙ-2.3.7
43 4053 Depends on Velocity loop integral gain on servo mode (Low) B ΙΙΙ-2.3.7
46 4056 100 Gear ratio (High) A ΙΙΙ-1.3.2
47 4057 100 Gear ratio (Medium High) A ΙΙΙ-1.3.2
48 4058 100 Gear ratio (Medium Low) A ΙΙΙ-1.3.2
49 4059 100 Gear ratio (Low) A ΙΙΙ-1.3.2
50 4060 1000 Position gain on orientation (High) B ΙΙΙ-2.2.9
51 4061 1000 Position gain on orientation (Medium High) B ΙΙΙ-2.2.9
52 4062 1000 Position gain on orientation (Medium Low) B ΙΙΙ-2.2.9
53 4063 1000 Position gain on orientation (Low) B ΙΙΙ-2.2.9
54 4064 100 Acceleration limitation ratio at deceleration time B ΙΙΙ-2.2.9
55 4065 1000 B ΙΙΙ-2.3.7
Position gain on servo mode (High)
ΙΙΙ-2.4.8
56 4066 1000 Position gain on servo mode (Medium High) B ΙΙΙ-2.3.7
ΙΙΙ-2.4.8
57 4067 1000 Position gain on servo mode (Medium Low) B ΙΙΙ-2.3.7
ΙΙΙ-2.4.8
58 4068 1000 B ΙΙΙ-2.3.7
Position gain on servo mode (Low)
ΙΙΙ-2.4.8
59 4069 900 Acceleration/deceleration constant (High) B ΙΙΙ-2.1.6
60 4070 900 Acceleration/deceleration constant (Medium High) B ΙΙΙ-2.1.6
61 4071 900 Acceleration/deceleration constant (Medium Low) B ΙΙΙ-2.1.6
62 4072 900 Acceleration/deceleration constant (Low) B ΙΙΙ-2.1.6
63 4073 0 Grid shift on servo mode B ΙΙΙ-2.3.7
64 4074 0 Reference position return speed on servo mode B ΙΙΙ-2.3.7
65 4075 10 Detection level for orientation completion signal B ΙΙΙ-2.2.9
67 4077 0 Orientation stop position shift B ΙΙΙ-2.2.9
68 4078 0 Gear switch timer B ΙΙΙ-2.5.4
- 692 -
Intern
Standard Classi
al data Referenc
data on
F-xxx
70 4080 Depends on Regenerative power limit for high-speed zone/regenerative power B ΙΙΙ-2.5.3
the model limit
71 4081 20 Delay time until motor power is cut off B ΙΙΙ-2.1.6
72 4082 10 Setting of acceleration/deceleration time B ΙΙΙ-2.1.6
73 4083 60 Motor voltage on velocity control mode C ΙΙΙ-2.1.6
74 4084 60 Motor voltage on orientation C ΙΙΙ-2.2.9
75 4085 60 C ΙΙΙ-2.3.7
Motor voltage on servo mode
ΙΙΙ-2.4.8
76 4086 0 Gear ratio parameter setting error alarm (spindle alarm 35) detection D ΙΙΙ-2.5.4
level
78 4088 75 Level for detecting excess velocity error when motor is restrained D ΙΙΙ-2.5.4
79 4089 200 Level for detecting excess velocity error when motor rotates D ΙΙΙ-2.5.4
80 4090 90 Overload detection level D ΙΙΙ-2.5.4
81 4091 100 Rate of change in position gain during reference position return on B ΙΙΙ-2.3.7
servo mode
85 4095 0 Speedometer pin output voltage adjustment value B ΙΙΙ-2.5.4
88 4098 0 Maximum speed for position coder signal detection A ΙΙΙ-1.3.2
89 4099 0 Delay time for motor excitation B ΙΙΙ-2.3.7
90 4100 Depends on C ΙΙΙ-2.5.3
the model
the model
the model
Compensation data for resistance
the model
the model
the model
D-axis current loop gain
the model
Q-axis current loop gain
the model
Q-axis current deviation limitation coefficient
the model
99 4109 Depends on Filter time constant for processing saturation related to the voltage C ΙΙΙ-2.5.3
the model command
the model
the model
102 4112 Depends on Criterion level for saturation related to the voltage command/PWM C ΙΙΙ-2.5.3
the model command clamp value
Slip constant
the model
the model
the model
107 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 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 4119 Depends on Deceleration-time excitation current change time constant/excitation C ΙΙΙ-2.5.3
the model current change time constant
Dead-band compensation data
the model
111 4121 5 Time constant for changing the torque (TCMD filter time constant) B ΙΙΙ-2.5.4
113 4123 30 Short-time overload detection time D ΙΙΙ-2.5.4
the model
- 693 -
Intern
Standard Classi
al data Referenc
data on
F-xxx
118 4128 Depends on Compensation coefficient between the specification and true C ΙΙΙ-2.5.3
the model base/maximum torque curve compensation coefficient
120 4130 Depends on Current loop proportional gain speed coefficient/current phase delay C ΙΙΙ-2.5.3
the model compensation coefficient
Dead-band compensation hysteresis
the model
Motor model code
the model
125 Motor overheat detect level (2-word)
the model
130 4138 Depends on Primary frequency clamp speed 1 C V-2.5.3
the model
131 4139 Depends on Primary frequency clamp slip frequency 1 C V-2.5.3
the model
132 4140 Depends on Primary frequency clamp speed 2 C V-2.5.3
the model
133 4141 Depends on Primary frequency clamp slip frequency 2 C V-2.5.3
the model
134 4142 Depends on Belt slip state detection coefficient 1 C V-2.5.3
the model
135 4143 Depends on Belt slip state detection coefficient 2 C V-2.5.3
the model
152 4160 0 Hysteresis of speed detection level B Ι-5.1.7
304 4320 0 Acceleration at orientation deceleration time (High) B ΙΙΙ-2.2.9
305 4321 0 Acceleration at orientation deceleration time (Medium High) B ΙΙΙ-2.2.9
306 4322 0 Acceleration at orientation deceleration time (Medium Low) B ΙΙΙ-2.2.9
307 4323 0 Acceleration at orientation deceleration time (Low) B ΙΙΙ-2.2.9
312 4328 0 Command multiplication for spindle orientation by position coder B Ι-5.3.6
345 4362 Depends on C V-2.5.3
Load meter compensation 1
the model
346 4363 Depends on C V-2.5.3
the model
347 4364 Depends on C V-2.5.3
the model
- 694 -
B-65280EN/08 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
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
Acceleration on spindle synchronous control
Spindle synchronous speed arrival level
Shift during synchronous control of spindle phase
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
- 695 -
B.LIST OF SPINDLE PARAMETER NUMBERS APPENDIX B-65280EN/08
15i 16i 30i

Contents
3038 ← 3205 ← 4038 ← 4205 ← 4038 ← 4205 ← Optimum orientation:
Upper limit of orientation speed
Conventional method/high-speed orientation:
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 ← Conventional method orientation:
Rate of change in position gain upon
completion of orientation
High-speed orientation:
Percentage limit to an acceleration during
deceleration
Optimum orientation:
Position feedforward coefficient
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)
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)
- 696 -
15i 16i 30i

Contents
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 ← Conventional method orientation:
Motor speed limit ratio for orientation
High-speed orientation:
Reserved
Delay time for acceleration
detection/bell-shaped acceleration/deceleration
time constant
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
3092 ← None None 4092 ← None None 4092 ← None None Rate of change in position gain during reference
3094 ← None None 4094 ← None None 4094 ← None None Disturbance torque compensation constant
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
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
- 697 -
15i 16i 30i

Contents
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
3124 3155 3332 3333 4124 4155 4332 4333 4124 4155 4332 4333
boost coefficient
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
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
3172 ← 3244 ← 4172 ← 4244 ← 4172 ← 4244 ← Numerator of arbitrary gear ratio between motor
3173 ← 3245 ← 4173 ← 4245 ← 4173 ← 4245 ← Denominator of arbitrary gear ratio between motor
3174 ← 3246 ← 4174 ← 4246 ← 4174 ← 4246 ← Numerator of arbitrary gear ratio between motor
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 ← 3322 ← 4320 ← 4322 ← 4320 ← 4322 ←
Spindle acceleration command (High)
3321 ← 3323 ← 4321 ← 4323 ← 4321 ← 4323 ←
Spindle acceleration command (Low)
3324 ← 3325 ← 4324 ← 4325 ← 4324 ← 4325 ←
one-rotation signal detection speed
- 698 -
15i 16i 30i

Contents
3320 ← 3324 ← 4320 ← 4324 ← 4320 ← 4324 ← High-speed orientation:
Motor acceleration at deceleration time (High)
3321 ← ↑ ↑ 4321 ← ↑ ↑ 4321 ← ↑ ↑ High-speed orientation:
Motor acceleration at deceleration time
(Medium High)
3322 ← ↓ ↓ 4322 ← ↓ ↓ 4322 ← ↓ ↓ High-speed orientation:
Motor acceleration at deceleration time
(Medium Low)
Motor acceleration at deceleration time (Low)
3326 ← 3330 ← 4326 ← 4330 ← 4326 ← 4330 ← Time constant for overshoot compensation/Limit
ratio for spindle acceleration command (High)
3327 ← 3331 ← 4327 ← 4331 ← 4327 ← 4331 ← Time constant for overshoot compensation/Limit
ratio for spindle acceleration command (Low)
Acceleration limitation start speed at
3328 ← 3329 ← 4328 ← 4329 ← 4328 ← 4329 ← Command multiplication for spindle orientation by
position coder
Acceleration limitation start speed at
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
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
None None 4342 None None 4342 None None Velocity loop gain override in Cs contouring control
3342 ← ← ←
(High)
None None 4343 None None 4343 None None Velocity loop gain override in Cs contouring control
3343 ← ← ←
(Low)
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
3369 ← None None 4369 ← None None 4369 ← None None Spindle synchronous orientation deceleration
coefficient
3370 ← 3383 ← 4370 ← 4383 ← 4370 ← 4383 ←
detection
3372 ← None None 4372 ← None None 4372 ← None None Spindle speed limit for safety 1
- 699 -
15i 16i 30i

Contents
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
3448 ← None None 4448 ← None None 4448 ← None None Criterion level for spindle stop
Velocity command-dependent over speed detection
3464 ← ← ← 4464 ← ← ← 4464 ← ← ←
offset level
3465 ← ← ← 4465 ← ← ← 4465 ← ← ← Excessive speed deviation level 2
3466 ← ← ← 4466 ← ← ← 4466 ← ← ← Excessive speed deviation detection time 2
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
3403 ← 3476 ← 4403 ← 4476 ← 4403 ← 4476 ← Bit parameter
3406 ← None None 4406 ← None None 4406 ← None None Acceleration/deceleration time constant for Cs
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
frequency
bandwidth
frequency
bandwidth
frequency
bandwidth
- 700 -
15i 16i 30i

Contents
3498 ← None None 4498 ← None None 4498 ← None None Spindle EGB master side : denominator of arbitrary
3499 ← None None 4499 ← None None 4499 ← None None Spindle EGB master side : numerator of arbitrary
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
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
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]
Temperature difference between warning level and
3523 ← ← ← 4527 ← ← ← 4527 ← ← ←
alarm level
- - - - - - - - 4590 ← 4720 ←
- - - - - - - - 4591 ← 4721 ←
speed restriction rate 2 (LOW)
- - - - - - - - 4593 ← ← ← Spindle amplifier loss coefficient 1
- - - - - - - - 4594 ← ← ← Spindle amplifier loss coefficient 2
- - - - - - - - 4595 ← ← ← Common power supply loss coefficient 1
- - - - - - - - 4596 ← ← ← Common power supply loss coefficient 2
Motor voltage after completion of optimum
- - - - - - - - 4607 ← 4737 ←
orientation
- 701 -
C.PARAMETER TABLE FOR EACH MOTOR MODEL APPENDIX B-65280EN/08
C PARAMETER TABLE FOR EACH MOTOR

MODEL
Unless otherwise annotated, the following spindle amplifiers are applicable to motors for 200 V and 400
V.
Amplifiers for 200 V
Conventional spindle amplifier (A06B-611x-...)
Level-up spindle amplifier (A06B-614x-...)
Spindle amplifier for 30i-B (A06B-622x-...)
Amplifiers for 400 V
Conventional spindle amplifier (A06B-612x-...)
Level-up spindle amplifier (A06B-615x-...)
Spindle amplifier for 30i-B (A06B-627x-...)
- 702 -
B-65280EN/08 APPENDIX C.PARAMETER TABLE FOR EACH MOTOR MODEL
C.1 SPINDLE MOTOR αiI series

Motor model αi I 0.5/10000 αi I 1/10000 αi I 1.5/10000 αi I 2/10000 αi I 3/10000 αi I 6/10000 αi I 8/8000 αi I 12/7000
Applicable amplifier αi SP2.2 αi SP2.2 αi SP5.5 αi SP5.5 αi SP5.5 αi SP11 αi SP11 αi SP15
Model code 301 302 304 306 308 310 312 314
Applicable software series and edition 9D50/F 9D50/D 9D50/D 9D50/D 9D50/D 9D50/F 9D50/D 9D50/D
Low-speed winding characteristics －－－－－－－－
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 characteristics -1 -1 -1 -1 -1 -1 -1 -1
3000/10000min 3000/10000min 1500/10000min 1500/10000min 1500/10000min 1500/10000min 1500/8000min 1500/7000min
FS30i -A
FS16i -B
FS15i- B FS30i -B
FS0i -C
FS0i -D
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 acceleration 1.32kW 2.64kW 4.44kW 4.44kW 6.6kW 9.0kW 13.2kW 18.0kW
(for PS selection) 2.60kW(*1) 2.87kW(*1) 6.7kW(*1) 6.4kW(*1) 7.9kW(*1)
Motor model (old name) α0.5/10000i α1/10000i α1.5/10000i α2/10000i α3/10000i α6/10000i α8/8000i α12/7000i
Applicable amplifier (old name) SPM-2.2i SPM-2.2i SPM-5.5i SPM-5.5i SPM-5.5i SPM-11i SPM-11i SPM-15i
(*1) This setting makes the maximum output during acceleration greater and the acceleration time reduced.
- 703 -
Motor model αi I 15/7000 αi I 18/7000 αi I 22/7000 αi I 30/6000 αi I 40/6000 αi I 50/4500 αi I 50/5000 αi I 1/15000
Applicable amplifier αi SP22 αi SP22 αi SP26 αi SP45 αi SP45 αi SP55 αi SP55 αi SP5.5
Model code 316 318 320 322 323 324 －－
Applicable software series and edition 9D50/D 9D50/F 9D50/D 9D50/E 9D50/E 9D50/F －－
15/18.5kW 18.5/22kW 22/26kW 30/37kW 37/45kW 45/55kW 45/55kW 1.5/2.2kW
FS30i -A
FS16i -B
FS15i- B FS30i -B
FS0i -C
FS0i -D
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 00000001
3011 4011 4011 00011010 00011010 00011010 00011010 00011010 00011010 00011010 00011001
3012 4012 4012 10000010 10000010 10000010 10000010 10000000 10000000 10000000 10000010
3013 4013 4013 01010000 01010000 01010000 00011000 00011000 00011000 00011000 00001100
3019 4019 4019 00000100 00000100 00000100 00000100 00000100 00000100 00000100 00000100
3020 4020 4020 7000 7000 7000 6000 6000 4500 5000 15000
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
85
3080 4080 4080 20555 11615 80 77 80 80 80
80(*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 1500 1520 1500 1387 1740 1200 1200 3100
3101 4101 4101 95 100 95 100 100 85 85 93
3102 4102 4102 1710 1813 1756 1387 1740 1201 1201 8015
70
3103 4103 4103 0 84 0 0 0 89 89
0(*1)
3104 4104 4104 5500 3000 4500 6000 3000 3000 3000 2000
3105 4105 4105 0 0 0 0 0 0 0 0
3106 4106 4106 5500 10000 4500 6000 3000 4500 4500 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 794 943 924 1145 970 1260 1260 343
3111 4111 4111 243 333 252 286 286 320 320 102
3112 4112 4112 200 200 200 200 200 200 200 200
3113 4113 4113 304 308 290 189 190 170 170 1870
3114 4114 4114 23040 0 0 20480 23040 23040 23040 0
3115 4115 4115 100 100 100 100 100 100 100 100
3116 4116 4116 5177 3600 5564 6071 6128 5800 5800 9669
3117 4117 4117 90 90 29530 90 90 90 90 90
3118 4118 4118 100 100 110 100 100 100 100 100
3119 4119 4119 31 31 29 51 48 56 56 5
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 148 143 142 148 146 146 146 176
3128 4128 4128 105 0 105 0 0 114 114 80
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 130 130 130 130 130 130 130 110
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 acceleration 22.2kW 26.4kW 31.2kW 44.4kW 54.0kW 66.0KW 66.0kW 5.6kW
(for PS selection) 7.0kW(*1)
Motor model (old name) α15/7000i α18/7000i α22/7000i α30/6000i α40/6000i α50/4500i － α1/15000i
Applicable amplifier (old name) SPM-22i SPM-22i SPM-26i SPM-45i SPM-45i SPM-55i － SPM-5.5i
- 704 -
Motor model αi I 1.5/15000 αi I 1.5/20000 αi I 2/15000 αi I 2/20000 αi I 3/12000 αi I 6/12000 αi I 6/12000(*4)
Applicable amplifier αi SP15 αi SP15 αi SP22 αi SP22 αi SP11 αi SP11 αi SP11
Model code 305 － 307 － 309 401 －
Applicable software series and edition 9D50/I － 9D50/D － 9D50/F 9D50/D －
5.5/7.5kW 5.5/7.5kW
Low-speed winding characteristics －－－－－
1500/12000min 1500/12000min-1
-1
1.5/2.2kW 1.5/2.2kW 2.2/3.7kW 2.2/3.7kW 3.7/5.5kW 5.5/7.5kW

High-speed winding characteristics －
3000/15000min-1 3000/20000min-1 3000/15000min-1 3000/20000min-1 1500/12000min-1 4000/12000min-1
FS30i -A
FS16i -B
FS15i- B FS30i -B
FS0i -C
FS0i -D
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 00000001 00000000 00000001 00000000 00000000 00000000
3011 4011 4011 00011001 00011001 00011001 00011001 00011001 00011010 00011010
3012 4012 4012 10000010 10000010 10000010 10000010 10000010 10000010 10000010
3013 4013 4013 00001100 00001100 01010000 01010000 00001100 00001100 00001100
3019 4019 4019 00000100 00000100 00000100 00000100 00000100 00000100 00000100
3020 4020 4020 15000 20000 15000 20000 12000 12000 12000
3023 4023 4023 333(*2)
3039 4039 4039 0 0 0 0 0 0 0
3040 4040 4040 6(*3)
3041 4041 4041 6(*3)
3048 4048 4048 6(*3)
3049 4049 4049 . 6(*3)
82
3080 4080 4080 14165 14165 12122 19290 16720 66
78(*1)
3083 4083 4083 10 10 10 10 30 30 30
3093 4093 4093 0 0 0 0 0 164 0
3100 4100 4100 3250 3250 3200 3200 1500 4000 1550
3101 4101 4101 33 33 45 45 87 81 96
3102 4102 4102 7145 7145 6432 6432 3015 4561 2630
69
3103 4103 4103 75 75 92 92 82 60
0(*1)
3104 4104 4104 2300 2300 3000 3000 3200 4000 6000
3105 4105 4105 0 0 0 0 0 0 0
3106 4106 4106 8700 8700 3000 3000 7500 4000 6000
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 629 629 588 588 559 431 754
3111 4111 4111 180 180 175 175 190 125 260
3112 4112 4112 200 200 200 200 200 200 200
3113 4113 4113 2227 2227 1800 1800 900 650 620
3114 4114 4114 0 0 0 0 19200 20480 20480
3115 4115 4115 90 90 100 80 100 100 100
3116 4116 4116 10289 10289 16564 16564 7376 8986 8803
3117 4117 4117 90 90 90 90 90 90 90
3118 4118 4118 100 100 100 100 100 100 100
3119 4119 4119 5 5 2 2 9 15 15
3120 4120 4120 0 0 0 0 0 0 0
3124 4124 4124 0 0 0 0 0 0 0
3127 4127 4127 176 176 202 202 178 164 164
3128 4128 4128 73 73 85 85 0 95 109
3129 4129 4129 0 0 0 0 0 0 0
3130 4130 4130 25700 25700 25700 25700 25700 25700 25700
3134 4134 4134 110 110 110 110 110 130 130
3136 4136 4136 0 0 0 0 0 30 0
3138 4138 4138 0 0 0 0 0 1550 0
3139 4139 4139 0 0 0 0 0 96 0
3140 4140 4140 0 0 0 0 0 2630 0
3141 4141 4141 0 0 0 0 0 60 0
3142 4142 4142 0 0 0 0 0 6000 0
3143 4143 4143 0 0 0 0 0 6000 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 0 754 0
3147 4147 4147 0 0 0 0 0 260 0
3148 4148 4148 0 0 0 0 0 200 0
3149 4149 4149 0 0 0 0 0 620 0
3150 4150 4150 0 0 0 0 0 20480 0
3151 4151 4151 0 0 0 0 0 100 0
3152 4152 4152 0 0 0 0 0 8803 0
3153 4153 4153 0 0 0 0 0 90 0
3154 4154 4154 0 0 0 0 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 0 0 109 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 15 0
3166 4166 4166 0 0 0 0 0 66 0
3169 4169 4169 0 0 0 0 0 0 0
Maximum output during acceleration 13.0kW 13kW 20.0kW 20kW 13.0kW 9.0kW 9.0kW
(for PS selection) 14.0kW(*1)
Motor model (old name) α1.5/15000i － α2/15000i － α3/12000i α6/12000i α6/12000i
Applicable amplifier (old name) SPM-15i － SPM-22i － SPM-11i SPM-11i SPM-11i
(*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 setting is used when only a low-speed winding is connected without the output range being switched in the output range switching motor.
- 705 -
Motor model αi I 8/10000 αi I 8/10000(*4) αi I 8/12000 αi I 12/10000 αi I 12/10000(*4) αi I 15/10000 αi I 15/10000(*4)

Model code 402 －－ 403 － 404 －
Applicable software series and edition 9D50/F －－ 9D50/F － 9D50/F －
7.5/11kW 7.5/11kW 7.5/11kW 11/15kW 11/15kW 15/18.5kW 15/18.5kW
Low-speed winding characteristics -1 -1 -1 -1 -1 -1 -1
1500/10000min 1500/10000min 1500/12000min 1500/10000min 1500/10000min 1500/10000min 1500/10000min
7.5/11kW 7.5/11kW 11/15kW 15/18.5kW
High-speed winding characteristics －－－
4000/10000min-1 -1
4000/12000min 4000/10000min
-1
4000/10000min
-1
FS30i -A
FS16i -B
FS15i- B FS30i -B
FS0i -C
FS0i -D
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 00000001 00000000 00000000 00000000 00000000
3011 4011 4011 00011010 00011010 00011010 00011010 00011010 00011010 00011010
3012 4012 4012 10000010 10000010 10000010 10000010 10000010 10000010 10000010
3013 4013 4013 00001100 00001100 00001100 00001100 00001100 01010000 01010000
3019 4019 4019 00000100 00000100 00000100 00000100 00000100 00000100 00000100
3020 4020 4020 10000 10000 12000 10000 10000 10000 10000
3023 4023 4023 400(*2) 333(*2) 400(*2) 400(*2)
3039 4039 4039 0 0 0 0 0 0 0
3040 4040 4040 6(*3)
3041 4041 4041 6(*3) 6(*3)
3048 4048 4048 6(*3)
3049 4049 4049 6(*3) 6(*3)
3080 4080 4080 12880 14168 70 75 70 80 20555
3083 4083 4083 30 30 30 30 30 30 30
3093 4093 4093 176 0 176 164 0 148 0
3100 4100 4100 3538 1600 3580 3900 1500 4000 1500
3101 4101 4101 100 100 100 80 100 62 95
3102 4102 4102 3538 1656 3580 3593 1500 3482 1710
3103 4103 4103 0 0 0 90 0 75 70
3104 4104 4104 2200 6000 2300 1800 7000 1700 5500
3105 4105 4105 0 0 0 0 0 0 0
3106 4106 4106 8000 18000 2300 6500 7000 5500 5500
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 503 503 421 595 595 575 794
3111 4111 4111 165 170 100 173 173 193 243
3112 4112 4112 200 200 200 200 200 200 200
3113 4113 4113 480 790 980 280 311 275 304
3114 4114 4114 0 19200 0 0 23040 23040 23040
3115 4115 4115 100 100 100 100 100 100 100
3116 4116 4116 5734 8118 11031 5280 5000 5126 5177
3117 4117 4117 100 90 90 90 90 90 90
3118 4118 4118 100 100 100 100 100 90 100
3119 4119 4119 20 12 522 34 31 35 31
3120 4120 4120 0 0 0 0 0 0 0
3124 4124 4124 0 0 0 0 0 0 0
3127 4127 4127 176 176 176 164 164 148 148
3128 4128 4128 0 117 0 0 0 0 105
3129 4129 4129 0 0 0 0 0 0 0
3130 4130 4130 25700 25700 25700 25700 25700 25700 25700
3134 4134 4134 130 130 130 130 130 130 130
3136 4136 4136 30 0 30 30 0 30 0
3138 4138 4138 1600 0 1500 1500 0 1500 0
3139 4139 4139 100 0 89 100 0 95 0
3140 4140 4140 1656 0 1642 1500 0 1710 0
3141 4141 4141 0 0 77 0 0 70 0
3142 4142 4142 6000 0 5000 7000 0 5500 0
3143 4143 4143 18000 0 5000 7000 0 5500 0
3144 4144 4144 0 0 0 0 0 0 0
3145 4145 4145 25 0 25 25 0 25 0
3146 4146 4146 503 0 566 595 0 794 0
3147 4147 4147 170 0 162 173 0 243 0
3148 4148 4148 200 0 200 200 0 200 0
3149 4149 4149 790 0 1090 311 0 304 0
3150 4150 4150 19200 0 19200 23040 0 23040 0
3151 4151 4151 100 0 100 100 0 100 0
3152 4152 4152 8118 0 8000 5000 0 5177 0
3153 4153 4153 90 0 90 90 0 90 0
3154 4154 4154 100 0 100 100 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 117 0 0 0 0 105 0
3159 4159 4159 0 0 0 0 0 0 0
3161 4161 4161 25700 0 25700 25700 0 25700 0
3165 4165 4165 12 0 521 31 0 31 0
3166 4166 4166 14168 0 49 70 0 20555 0
3169 4169 4169 0 0 0 0 0 0 0
Maximum output during acceleration 13.2kW 13.2kW 13.2kW 18.0kW 18.0kW 22.2kW 22.2kW
(for PS selection)
Motor model (old name) α8/10000i α8/10000i － α12/10000i α12/10000i α15/10000i α15/10000i
Applicable amplifier (old name) SPM-11i SPM-11i － SPM-15i SPM-15i SPM-22i SPM-22i
- 706 -
Motor model αi I 18/10000 αi I 18/10000(*4) αi I 22/10000 αi I 22/10000(*4)
Applicable amplifier αi SP22 αi SP22 αi SP26 αi SP26
Model code 405 － 406 －
Applicable software series and edition 9D50/F － 9D50/E －
18.5/22kW 18.5/22kW 22/26kW 22/26kW
Low-speed winding characteristics -1 -1 -1 -1
1500/10000min 1500/10000min 1500/10000min 1500/10000min
18.5/22kW 22/26kW
High-speed winding characteristics －－
4000/10000min-1 4000/10000min
-1
FS30i -A
FS16i -B
FS15i- B FS30i -B
FS0i -C
FS0i -D
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 01010000 01010000 01010000 01010000
3019 4019 4019 00000100 00000100 00000100 00000100
3020 4020 4020 10000 10000 10000 10000
3023 4023 4023 400(*2) 400(*2)
3039 4039 4039 0 0 0 0
3040 4040 4040
3041 4041 4041
3048 4048 4048
3049 4049 4049
3080 4080 4080 80 11615 75 56
3083 4083 4083 30 30 30 30
3093 4093 4093 143 0 142 0
3100 4100 4100 4100 1520 4000 1440
3101 4101 4101 100 100 83 96
3102 4102 4102 4582 1813 3504 1709
3103 4103 4103 89 84 0 96
3104 4104 4104 1300 3000 2800 5000
3105 4105 4105 0 0 0 0
3106 4106 4106 5000 10000 2800 5000
3107 4107 4107 0 0 0 0
3108 4108 4108 0 0 0 0
3109 4109 4109 25 25 25 25
3110 4110 4110 754 943 603 823
3111 4111 4111 260 333 143 213
3112 4112 4112 200 200 200 200
3113 4113 4113 319 308 265 300
3114 4114 4114 0 0 24320 19200
3115 4115 4115 100 100 100 100
3116 4116 4116 4100 3600 5523 5593
3117 4117 4117 90 90 90 90
3118 4118 4118 100 100 100 100
3119 4119 4119 30 31 36 341
3120 4120 4120 0 0 0 0
3124 4124 4124 0 0 0 0
3127 4127 4127 143 143 142 142
3128 4128 4128 102 0 0 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 0 30 0
3138 4138 4138 1520 0 1440 0
3139 4139 4139 100 0 96 0
3140 4140 4140 1813 0 1709 0
3141 4141 4141 84 0 96 0
3142 4142 4142 3000 0 5000 0
3143 4143 4143 10000 0 5000 0
3144 4144 4144 0 0 0 0
3145 4145 4145 25 0 25 0
3146 4146 4146 943 0 823 0
3147 4147 4147 333 0 213 0
3148 4148 4148 200 0 200 0
3149 4149 4149 308 0 300 0
3150 4150 4150 0 0 19200 0
3151 4151 4151 100 0 100 0
3152 4152 4152 3600 0 5593 0
3153 4153 4153 90 0 90 0
3154 4154 4154 100 0 100 0
3155 4155 4155 0 0 0 0
3156 4156 4156 0 0 0 0
3158 4158 4158 0 0 0 0
3159 4159 4159 0 0 0 0
3161 4161 4161 25700 0 25700 0
3165 4165 4165 31 0 341 0
3166 4166 4166 11615 0 56 0
3169 4169 4169 0 0 0 0
Maximum output during acceleration 26.4kW 26.4kW 31.2kW 31.2kW
(for PS selection)
Motor model (old name) α18/10000i α18/10000i α22/10000i α22/10000i
Applicable amplifier (old name) SPM-22i SPM-22i SPM-26i SPM-26i
- 707 -
C.2 SPINDLE MOTOR αiIp series

Motor model αi IP 12/6000 αi IP 12/8000 αi IP 15/6000 αi IP 15/8000 αi IP 18/6000 αi IP 18/8000 αi IP 22/6000 αi IP 22/8000
Applicable amplifier αi SP11 αi SP11 αi SP15 αi SP15 αi SP15 αi SP15 αi SP22 αi SP22
Model code 407 － 408 － 409 － 410 －
Applicable software series and edition 9D50/F － 9D50/F － 9D50/F － 9D50/F －
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 characteristics -1 -1 -1 -1 -1 -1 -1 -1
5.5/7.5kW 5.5/7.5kW 7.5/9kW 7.5/9kW 9/11kW 9/11kW 11/15kW 11/15kW
FS30i -A
FS16i -B
FS15i- B FS30i -B
FS0i -C
FS0i -D
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 ←
(for PS selection)
Motor model (old name) 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 amplifier (old name) SPM-11i SPM-11i SPM-15i SPM-15i SPM-15i SPM-15i SPM-22i SPM-22i
- 708 -
Motor model αi IP 30/6000 αi IP 40/6000 αi IP 50/6000 αi IP 60/4500 αi IP 60/5000
Applicable amplifier αi SP22 αi SP26 αi SP26 αi SP30 αi SP30
Model code 411 412 413 414 －
Applicable software series and edition 9D50/E 9D50/F 9D50/E 9D50/F －
11/18.5kW 13/22kW 22/30kW 18.5/30kW 18.5/30kW
Low-speed winding characteristics -1 -1 -1 -1 -1
400/1500min 400/1500min 575/1500min 400/1500min 400/1500min
15/18.5kW 18.5/22kW 22/30kW 22/30kW 22/30kW
High-speed winding characteristics -1 -1 -1 -1 -1
FS30i -A
FS16i -B
FS15i- B FS30i -B
FS0i -C
FS0i -D
3007 4007 4007 00000000 00000000 00000000 00000000 00000000
3008 4008 4008 00000000 00000000 00000000 00000000 00000000
3009 4009 4009 00000000 00000000 00000000 00000000 00000000
3010 4010 4010 00000000 00000000 00000000 00000000 00000000
3011 4011 4011 00011010 00011010 00011010 00011010 00011010
3012 4012 4012 10000010 10000000 10000010 10000000 10000000
3013 4013 4013 01010000 01010000 01010000 01010000 01010000
3019 4019 4019 00000100 00000100 00000100 00000100 00000100
3020 4020 4020 6000 6000 6000 4500 5000
3023 4023 4023 96(*2) 96(*2) 200(*2) 167(*2) 167(*2)
3039 4039 4039 0 0 0 0 0
3040 4040 4040
3041 4041 4041
3048 4048 4048
3049 4049 4049
3080 4080 4080 19280 65 75 75 75
3083 4083 4083 30 30 30 30 30
3093 4093 4093 202 203 164 195 195
3100 4100 4100 590 590 1107 750 750
3101 4101 4101 100 100 100 84 84
3102 4102 4102 889 835 1107 861 861
3103 4103 4103 85 80 0 80 80
3104 4104 4104 10000 3500 8000 5000 5000
3105 4105 4105 0 0 0 0 0
3106 4106 4106 10000 6500 8000 9000 9000
3107 4107 4107 0 0 0 0 0
3108 4108 4108 0 0 0 0 0
3109 4109 4109 25 25 25 25 25
3110 4110 4110 750 1052 686 1018 1018
3111 4111 4111 267 312 175 280 280
3112 4112 4112 150 200 200 200 200
3113 4113 4113 198 170 180 196 196
3114 4114 4114 21760 0 25600 0 0
3115 4115 4115 100 100 100 100 100
3116 4116 4116 6050 4500 6150 5050 5050
3117 4117 4117 90 90 90 90 90
3118 4118 4118 100 100 100 100 100
3119 4119 4119 48 56 53 49 49
3120 4120 4120 0 0 0 0 0
3124 4124 4124 0 0 0 0 0
3127 4127 4127 148 143 164 164 164
3128 4128 4128 105 85 100 0 0
3129 4129 4129 0 0 0 0 0
3130 4130 4130 25700 25700 25700 25700 25700
3134 4134 4134 130 130 130 130 130
3136 4136 4136 30 30 30 30 30
3138 4138 4138 400 430 608 420 420
3139 4139 4139 100 100 100 85 85
3140 4140 4140 684 713 608 497 497
3141 4141 4141 0 56 0 0 0
3142 4142 4142 13000 5000 21000 8000 8000
3143 4143 4143 13000 7000 21000 12000 12000
3144 4144 4144 0 0 0 0 0
3145 4145 4145 25 25 25 25 25
3146 4146 4146 2011 2155 1131 1764 1764
3147 4147 4147 733 655 317 510 510
3148 4148 4148 200 200 200 200 200
3149 4149 4149 165 200 195 195 195
3150 4150 4150 0 0 23040 0 0
3151 4151 4151 100 100 100 100 100
3152 4152 4152 6008 5200 6191 5045 5045
3153 4153 4153 28250 90 90 90 90
3154 4154 4154 100 100 100 100 100
3155 4155 4155 0 0 0 0 0
3156 4156 4156 0 0 0 0 0
3158 4158 4158 90 0 110 0 0
3159 4159 4159 0 0 0 0 0
3161 4161 4161 25700 25700 25700 25700 25700
3165 4165 4165 58 48 49 20 20
3166 4166 4166 50 17232 65 45 45
3169 4169 4169 0 0 0 0 0
Maximum output during acceleration 25.0kW 29.0kW 35.4kW 36kW 36.0kW
(for PS selection)
Motor model (old name) α30/6000i P α40/6000i P α50/6000i P α60/4500i P －
Applicable amplifier (old name) SPM-22i SPM-26i SPM-26i SPM-30i －
- 709 -
C.3 SPINDLE MOTOR αiIT series

Motor model αi IT 1.5/15000 αi IT 1.5/20000 αi IT 2/15000 αi IT 2/20000 αi IT 3/12000 αi IT 6/12000 αi IT 6/12000(*4)
Model code －－－－－－－
Applicable software series and edition －－－－－－－
5.5/7.5kW 5.5/7.5kW
Low-speed winding characteristics －－－－－ -1 -1
1500/12000min 1500/12000min
1.5/2.2kW 1.5/2.2kW 2.2/3.7kW 2.2/3.7kW 3.7/5.5kW 5.5/7.5kW
High-speed winding characteristics -1 -1 -1 -1 -1 -1 －
3000/15000min 3000/20000min 3000/15000min 3000/20000min 1500/12000min 4000/12000min
FS30i -A
FS16i -B
FS15i- B FS30i -B
FS0i -C
FS0i -D
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 00011001 00011001 00011010 00011010
3012 4012 4012 10000010 10000010 10000010 10000010 10000010 10000010 10000010
3013 4013 4013 00001100 00001100 01010000 01010000 00001100 00001100 00001100
3019 4019 4019 00000100 00000100 00000100 00000100 00000100 00000100 00000100
3020 4020 4020 15000 20000 15000 20000 12000 12000 12000
3023 4023 4023 333(*2)
3039 4039 4039 0 0 0 0 0 0 0
3040 4040 4040
3041 4041 4041 6(*3)
3048 4048 4048
3049 4049 4049 6(*3)
3080 4080 4080 14165 14165 12122 19290 16720 81 58
3083 4083 4083 10 10 10 10 30 30 30
3093 4093 4093 0 0 0 0 0 164 0
3100 4100 4100 3250 3250 3200 3200 1500 4200 1500
3101 4101 4101 33 33 45 45 87 50 71
3102 4102 4102 7145 7145 6432 6432 3015 4561 2630
3103 4103 4103 75 75 92 92 82 70 70
3104 4104 4104 2300 2300 3000 3000 3200 3000 5500
3105 4105 4105 0 0 0 0 0 0 0
3106 4106 4106 8700 8700 3000 3000 7500 3000 5500
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 629 629 588 588 559 646 1131
3111 4111 4111 180 180 175 175 190 185 353
3112 4112 4112 200 200 200 200 200 200 200
3113 4113 4113 2227 2227 1800 1800 900 650 620
3114 4114 4114 0 0 0 0 19200 20480 20480
3115 4115 4115 90 90 100 80 100 100 100
3116 4116 4116 10289 10289 16564 16564 7376 10783 8803
3117 4117 4117 90 90 90 90 90 90 90
3118 4118 4118 100 100 100 100 100 100 100
3119 4119 4119 5 5 2 2 9 15 527
3120 4120 4120 0 0 0 0 0 0 0
3124 4124 4124 0 0 0 0 0 0 0
3127 4127 4127 176 176 202 202 178 164 164
3128 4128 4128 73 73 85 85 0 95 105
3129 4129 4129 0 0 0 0 0 0 0
3130 4130 4130 25700 25700 25700 25700 25700 25700 25700
3134 4134 4134 110 110 110 110 110 130 130
3136 4136 4136 0 0 0 0 0 30 0
3138 4138 4138 0 0 0 0 0 1500 0
3139 4139 4139 0 0 0 0 0 71 0
3140 4140 4140 0 0 0 0 0 2630 0
3141 4141 4141 0 0 0 0 0 70 0
3142 4142 4142 0 0 0 0 0 5500 0
3143 4143 4143 0 0 0 0 0 5500 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 1131 0
3147 4147 4147 0 0 0 0 0 353 0
3148 4148 4148 0 0 0 0 0 200 0
3149 4149 4149 0 0 0 0 0 620 0
3150 4150 4150 0 0 0 0 0 20480 0
3151 4151 4151 0 0 0 0 0 100 0
3152 4152 4152 0 0 0 0 0 8803 0
3153 4153 4153 0 0 0 0 0 90 0
3154 4154 4154 0 0 0 0 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 0 0 105 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 0 527 0
3166 4166 4166 0 0 0 0 0 58 0
3169 4169 4169 0 0 0 0 0 0 0
Maximum output during acceleration 13.0kW 13kW 20kW 20kW 13kW 13kW 13kW
(for PS selection)
Motor model (old name) α1.5/15000i T － α2/15000i T － α3/12000i T α6/12000i T α6/12000i T
Applicable amplifier (old name) SPM-15i － SPM-22i － SPM-11i SPM-15i SPM-15i
- 710 -
Motor model αi IT 8/12000 αi IT 8/12000(*4) αi IT 8/15000 αi IT 8/15000(*4) αi IT 15/10000 αi IT 15/10000(*4) αi IT 15/12000 αi IT 15/12000(*4)
Applicable amplifier αi SP15 αi SP15 αi SP26 αi SP26 αi SP22 αi SP22 αi SP30 αi SP30
Model code －－－－－－－－
Applicable software series and edition －－－－－－－－
7.5/11kW 7.5/11kW 7.5/11/15kW 7.5/11/15kW 15/18.5kW 15/18.5kW 15/18.5/22kW 15/18.5/22kW
Low-speed winding characteristics -1 -1 -1 -1 -1 -1 -1 -1
7.5/11kW 7.5/11/15kW 15/18.5kW 15/18.5/22kW
High-speed winding characteristics -1 － -1 － -1 － -1 －
4000/12000min 4000/15000min 4000/10000min 5000/12000min
FS30i -A
FS16i -B
FS15i- B FS30i -B
FS0i -C
FS0i -D
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 00001100 00001100 01010000 01010000 01010000 01010000 01010000 01010000
3019 4019 4019 00000100 00000100 00000100 00000100 00000100 00000100 00000100 00000100
3020 4020 4020 12000 12000 15000 4000 10000 10000 12000 4000
3023 4023 4023 333(*2) 267(*2) 400(*2) 292(*2)
3039 4039 4039 0 0 0 0 0 0 0 0
3040 4040 4040
3041 4041 4041 6(*3) 4(*3)
3048 4048 4048
3049 4049 4049 6(*3) 4(*3)
3080 4080 4080 70 49 18774 95 80 20555 85 65
3083 4083 4083 30 30 30 30 30 30 30 30
3093 4093 4093 176 0 240 0 148 0 176 0
3100 4100 4100 3580 1500 4040 1570 4000 1500 4500 1450
3101 4101 4101 100 89 84 90 62 95 65 70
3102 4102 4102 3580 1642 5161 2592 3482 1710 5392 1783
3103 4103 4103 0 77 0 0 75 70 82 93
3104 4104 4104 2300 5000 2700 5000 1700 5500 3500 7000
3105 4105 4105 0 0 0 0 0 0 0 0
3106 4106 4106 2300 5000 9200 16000 5500 5500 3500 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 421 566 503 754 575 794 887 2155
3111 4111 4111 100 162 105 192 193 243 255 650
3112 4112 4112 200 200 200 200 200 200 200 200
3113 4113 4113 980 1090 1000 1050 275 304 380 380
3114 4114 4114 0 19200 28160 0 23040 23040 0 0
3115 4115 4115 100 100 100 100 100 100 100 100
3116 4116 4116 11031 8000 10984 11083 5126 5177 9314 2000
3117 4117 4117 90 90 90 90 90 90 90 90
3118 4118 4118 100 100 90 100 90 100 90 90
3119 4119 4119 522 521 10 15 35 31 25 25
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 176 176 240 240 148 148 176 176
3128 4128 4128 0 0 0 110 0 105 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 1500 0 1570 0 1500 0 1450 0
3139 4139 4139 89 0 90 0 95 0 70 0
3140 4140 4140 1642 0 2592 0 1710 0 1783 0
3141 4141 4141 77 0 0 0 70 0 93 0
3142 4142 4142 5000 0 5000 0 5500 0 7000 0
3143 4143 4143 5000 0 16000 0 5500 0 7000 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 566 0 754 0 794 0 2155 0
3147 4147 4147 162 0 192 0 243 0 650 0
3148 4148 4148 200 0 200 0 200 0 200 0
3149 4149 4149 1090 0 1050 0 304 0 380 0
3150 4150 4150 19200 0 0 0 23040 0 0 0
3151 4151 4151 100 0 100 0 100 0 100 0
3152 4152 4152 8000 0 11083 0 5177 0 2000 0
3153 4153 4153 90 0 90 0 90 0 90 0
3154 4154 4154 100 0 100 0 100 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 0 110 0 105 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 521 0 15 0 31 0 25 0
3166 4166 4166 49 0 95 0 20555 0 65 0
3169 4169 4169 0 0 0 0 0 0 0 0
Maximum output during acceleration 13.2kW 13.2kW 28kW 28kW 22.2kW 22.2kW 38kW 38kW
(for PS selection)
Motor model (old name) α8/12000i T α8/12000i T α8/15000i T α8/15000i T α15/10000i T α15/10000i T α15/12000i T α15/12000i T
Applicable amplifier (old name) SPM-15i SPM-15i SPM-26i SPM-26i SPM-22i SPM-22i SPM-30i SPM-30i
- 711 -
Motor model αi IT 15/15000 αi IT 22/10000 αi IT 22/10000(*4)

Applicable amplifier αi SP30 αi SP26 αi SP26
Model code －－－
Applicable software series and edition －－－
15/18.5/22kW 22/26kW 22/26kW
Low-speed winding characteristics -1 -1 -1
1400/4000min 1500/10000min 1500/10000min
15/18.5/22kW 22/26kW
High-speed winding characteristics -1 -1 －
5000/15000min 4000/10000min
FS30i -A
FS16i -B
FS15i- B FS30i -B
FS0i -C
FS0i -D
3007 4007 4007 00000000 00000000 00000000
3008 4008 4008 00000000 00000000 00000000
3009 4009 4009 00000000 00000000 00000000
3010 4010 4010 00000001 00000001 00000001
3011 4011 4011 00011010 00011010 00011010
3012 4012 4012 10000010 10000010 10000010
3013 4013 4013 01010000 01010000 01010000
3019 4019 4019 00000100 00000100 00000100
3020 4020 4020 15000 10000 10000
3023 4023 4023 233(*2) 400(*2)
3039 4039 4039 0 0 0
3040 4040 4040
3041 4041 4041 4(*3)
3048 4048 4048
3049 4049 4049 4(*3)
3080 4080 4080 10583 75 56
3083 4083 4083 30 30 30
3093 4093 4093 176 142 0
3100 4100 4100 4500 4000 1440
3101 4101 4101 65 83 96
3102 4102 4102 5392 3504 1709
3103 4103 4103 82 0 96
3104 4104 4104 3500 2800 5000
3105 4105 4105 0 0 0
3106 4106 4106 3500 2800 5000
3107 4107 4107 0 0 0
3108 4108 4108 0 0 0
3109 4109 4109 25 25 25
3110 4110 4110 887 603 823
3111 4111 4111 255 143 213
3112 4112 4112 200 200 200
3113 4113 4113 380 265 300
3114 4114 4114 0 24320 19200
3115 4115 4115 100 100 100
3116 4116 4116 9314 5523 5593
3117 4117 4117 90 90 90
3118 4118 4118 90 100 100
3119 4119 4119 25 36 341
3120 4120 4120 0 0 0
3124 4124 4124 0 0 0
3127 4127 4127 176 142 142
3128 4128 4128 0 0 0
3129 4129 4129 0 0 0
3130 4130 4130 25700 25700 25700
3134 4134 4134 130 130 130
3136 4136 4136 30 30 0
3138 4138 4138 1450 1440 0
3139 4139 4139 70 96 0
3140 4140 4140 1783 1709 0
3141 4141 4141 93 96 0
3142 4142 4142 7000 5000 0
3143 4143 4143 7000 5000 0
3144 4144 4144 0 0 0
3145 4145 4145 25 25 0
3146 4146 4146 2155 823 0
3147 4147 4147 650 213 0
3148 4148 4148 200 200 0
3149 4149 4149 380 300 0
3150 4150 4150 0 19200 0
3151 4151 4151 100 100 0
3152 4152 4152 2000 5593 0
3153 4153 4153 90 90 0
3154 4154 4154 90 100 0
3155 4155 4155 0 0 0
3156 4156 4156 0 0 0
3158 4158 4158 0 0 0
3159 4159 4159 0 0 0
3161 4161 4161 25700 25700 0
3165 4165 4165 25 341 0
3166 4166 4166 65 56 0
3169 4169 4169 0 0 0
Maximum output during acceleration 38kW 31.2kW 31.2kW
(for PS selection)
Motor model (old name) α15/15000i T α22/10000i T α22/10000i T
Applicable amplifier (old name) SPM-30i SPM-26i SPM-26i
- 712 -
C.4 SPINDLE MOTOR αiIL series

Motor model αi IL 8/20000 αi IL 15/15000 αi IL 26/15000
11/15kW 18.5/22kW 15/22kW
1150/4000min 1400/4000min 600/2000min
15/18.5kW 18.5/22kW 26/30kW
High-speed winding characteristics -1 -1 -1
5000/20000min 6000/15000min 2500/15000min
FS30i -A
FS16i -B
FS15i- B FS30i -B
FS0i -C
FS0i -D
3007 4007 4007 00000000 00000000 00000000
3008 4008 4008 00000000 00000000 00000000
3009 4009 4009 00000000 00000000 00000000
3010 4010 4010 00000001 00000001 00000001
3011 4011 4011 00011001 00011001 00011001
3012 4012 4012 10000010 10000010 10000010
3013 4013 4013 01010000 01010000 01010000
3019 4019 4019 00000100 00000100 00000100
3020 4020 4020 20000 15000 15000
3023 4023 4023 200(*2) 267(*2) 120(*2)
3039 4039 4039 0 0 0
3040 4040 4040
3041 4041 4041 3(*3) 4(*3) 5(*3)
3048 4048 4048
3049 4049 4049 3(*3) 4(*3) 5(*3)
3080 4080 4080 11856 12115 12875
3083 4083 4083 20 30 30
3093 4093 4093 164 143 176
3100 4100 4100 5070 6000 2470
3101 4101 4101 69 52 70
3102 4102 4102 6960 6153 2580
3103 4103 4103 0 89 97
3104 4104 4104 2100 1800 2100
3105 4105 4105 0 0 0
3106 4106 4106 3900 2800 4600
3107 4107 4107 0 0 0
3108 4108 4108 0 0 0
3109 4109 4109 25 25 25
3110 4110 4110 805 1207 1207
3111 4111 4111 217 343 344
3112 4112 4112 200 200 200
3113 4113 4113 1005 300 320
3114 4114 4114 0 0 0
3115 4115 4115 100 100 100
3116 4116 4116 9613 7537 4716
3117 4117 4117 90 90 90
3118 4118 4118 100 90 100
3119 4119 4119 778 32 286
3120 4120 4120 0 0 0
3124 4124 4124 0 0 0
3127 4127 4127 148 143 138
3128 4128 4128 0 0 0
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 1350 1470 700
3139 4139 4139 75 79 67
3140 4140 4140 2605 2573 873
3141 4141 4141 0 0 0
3142 4142 4142 5600 4000 7000
3143 4143 4143 7000 6000 12000
3144 4144 4144 0 0 0
3145 4145 4145 25 25 25
3146 4146 4146 1724 2011 2321
3147 4147 4147 504 585 685
3148 4148 4148 200 200 200
3149 4149 4149 1145 300 420
3150 4150 4150 0 0 19200
3151 4151 4151 100 100 100
3152 4152 4152 10911 7536 4711
3153 4153 4153 90 90 90
3154 4154 4154 110 100 120
3155 4155 4155 0 0 0
3156 4156 4156 0 0 0
3158 4158 4158 110 107 105
3159 4159 4159 0 0 0
3161 4161 4161 25700 25700 25700
3165 4165 4165 8 32 23
3166 4166 4166 12893 75 60
3169 4169 4169 0 0 0
Maximum output during acceleration 41kW 41kW 43kW
(for PS selection)
Motor model (old name) α8/20000i L α15/15000i L α26/15000i L
Applicable amplifier (old name) SPM-30i SPM-30i SPM-30i
- 713 -
C.5 SPINDLE MOTOR αiI series (400V)

Motor model αi I 0.5/10000HV αi I 1/10000HV αi I 1.5/10000HV αi I 2/10000HV αi I 3/10000HV αi I 6/10000HV αi I 8/8000HV αi I 12/7000HV
Applicable amplifier αi SP5.5HV αi SP5.5HV αi SP5.5HV αi SP5.5HV αi SP5.5HV αi SP11HV αi SP11HV αi SP15HV
Model code 311 313 315 317 319 321 325 326
Applicable software series and edition 9D50/F 9D50/F 9D50/F 9D50/F 9D50/F 9D50/F 9D50/F 9D50/F
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
FS30i -A
FS16i -B
FS15i- B FS30i -B
FS0i -C
FS0i -D
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
(for PS 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)
Motor model (old name) α0.5/10000HVi α1/10000HVi α1.5/10000HVi α2/10000HVi α3/10000HVi α6/10000HVi α8/8000HVi α12/7000HVi
Applicable amplifier (old name) SPM-5.5HVi SPM-5.5HVi SPM-5.5HVi SPM-5.5HVi SPM-5.5HVi SPM-11HVi SPM-11HVi SPM-15HVi
- 714 -
Motor model αi I 15/7000HV αi I 22/7000HV αi I 30/6000HV αi I 40/6000HV αi I 50/5000HV αi I 60/4500HV αi I 60/5000HV αi I 75/5000HV
Applicable amplifier αi SP30HV αi SP30HV αi SP45HV αi SP45HV αi SP45HV(*5) αi SP75HV αi SP75HV αi SP75HV(*5)
Model code 327 328 329 －－－－－
Applicable software series and edition 9D50/F 9D50/F 9D50/F －－－－－
15/18.5kW 22/26kW 30/37kW 37/45 kW 45/55kW 60/75 kW 60/75kW 75/90kW
1500/7000min 1500/7000min 1150/6000min 1500/6000 min 1150/5000min 1150/4500 min 1150/5000min 1050/5000min
FS30i -A
FS16i -B
FS15i- B FS30i -B
FS0i -C
FS0i -D
3007 4007 4007 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3008 4008 4008 00000000 00000000 00000000 00010000 00010000 00000000 00000000 00010000
3009 4009 4009 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3010 4010 4010 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00010001
3011 4011 4011 00011010 00011010 00011010 00001010 00001010 00011010 00011010 00001010
3012 4012 4012 10000010 10000010 10000000 10000000 10000000 10000000 10000000 10000000
3013 4013 4013 01010000 01010000 01010000 01010000 00001100 00011000 00011000 00001100
3019 4019 4019 00000100 00000100 00000100 00000100 00000100 00000100 00000100 00000100
3020 4020 4020 7000 7000 6000 6000 5000 4500 5000 5000
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
3080 4080 4080 65 75 98 82 18000 90 90 20560
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 1500 1595 1230 1600 1150 1130 1130 1100
3101 4101 4101 73 100 85 100 85 100 100 100
3102 4102 4102 1972 1595 1617 1940 1175 1491 1491 1254
3103 4103 4103 65 0 55 0 0 85 85 0
3104 4104 4104 4500 5000 2500 2500 4000 3500 3500 2500
3105 4105 4105 0 0 0 0 0 0 0 0
3106 4106 4106 4500 5000 4000 2800 6000 7000 7000 4000
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 1499 838 1257 718 678 1174 1174 887
3111 4111 4111 425 223 455 252 274 345 345 292
3112 4112 4112 200 200 200 200 200 200 200 200
3113 4113 4113 280 325 160 175 194 193 193 180
3114 4114 4114 23040 20480 0 0 0 0 0 0
3115 4115 4115 100 100 100 100 100 100 100 100
3116 4116 4116 5153 5572 5056 6212 5045 5042 5042 4794
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 34 29 60 54 49 49 49 53
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 148 142 148 146 147 150 150 144
3128 4128 4128 0 0 110 115 0 0 0 110
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 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 acceleration 22.2kW 31.2kW 44.4kW 54kW 66kW 90kW 90kW 108kW
(for PS selection)
Motor model (old name) α15/7000HVi α22/7000HVi α30/6000HVi α40/6000HVi - α60/4500HVi - -
Applicable amplifier (old name) SPM-30HVi SPM-30HVi SPM-45HVi SPM-45HVi - SPM-75HVi - -
(*5) Spindle amplifiers indicated by A06B-612x-... are not applicable.
- 715 -
Motor model αi I 100/4000HV αi I 100/4000HV(*4) αi I 100/5000HV

Applicable amplifier αi SP75HV αi SP75HV αi SP100HV(*5)
Model code 415 －－
Applicable software series and edition 9D50/F －－
100kW 100kW 100kW
Low-speed winding characteristics -1
1000/3000min 1000/3000min-1 1000/5000min-1
100kW 100kW
High-speed winding characteristics -1 － -1
2000/4000min 3000/5000min
FS30i -A
FS16i -B
FS15i- B FS30i -B
FS0i -C
FS0i -D
3007 4007 4007 00000000 00000000 00000000
3008 4008 4008 00000000 00000000 00010000
3009 4009 4009 00000000 00000000 00000000
3010 4010 4010 00000001 00000001 00010001
3011 4011 4011 00011010 00011010 00001010
3012 4012 4012 10000000 10000000 10000000
3013 4013 4013 00011000 00011000 00001100
3019 4019 4019 00000100 00000100 00000100
3020 4020 4020 4000 3000 5000
3023 4023 4023 500(*2) 600(*2)
3039 4039 4039 0 0 0
3040 4040 4040
3041 4041 4041
3048 4048 4048
3049 4049 4049
3080 4080 4080 80 72 85
3083 4083 4083 30 30 30
3093 4093 4093 120 0 0
3100 4100 4100 2007 835 3050
3101 4101 4101 100 100 90
3102 4102 4102 2007 835 3210
3103 4103 4103 0 0 0
3104 4104 4104 2500 6000 1400
3105 4105 4105 0 0 0
3106 4106 4106 3000 7500 2300
3107 4107 4107 0 0 0
3108 4108 4108 0 0 0
3109 4109 4109 25 25 25
3110 4110 4110 754 823 1131
3111 4111 4111 215 239 379
3112 4112 4112 200 200 200
3113 4113 4113 185 215 172
3114 4114 4114 0 0 0
3115 4115 4115 100 100 100
3116 4116 4116 6516 6532 4691
3117 4117 4117 105 105 90
3118 4118 4118 105 105 100
3119 4119 4119 39 20 55
3120 4120 4120 0 0 0
3124 4124 4124 0 0 0
3127 4127 4127 120 120 120
3128 4128 4128 0 0 0
3129 4129 4129 0 0 0
3130 4130 4130 25700 25700 25700
3134 4134 4134 140 140 130
3136 4136 4136 30 0 30
3138 4138 4138 835 0 1020
3139 4139 4139 100 0 79
3140 4140 4140 835 0 1042
3141 4141 4141 0 0 0
3142 4142 4142 6000 0 4000
3143 4143 4143 7500 0 7000
3144 4144 4144 0 0 0
3145 4145 4145 25 0 25
3146 4146 4146 823 0 993
3147 4147 4147 239 0 352
3148 4148 4148 200 0 200
3149 4149 4149 215 0 172
3150 4150 4150 0 0 0
3151 4151 4151 100 0 100
3152 4152 4152 6532 0 4691
3153 4153 4153 105 0 90
3154 4154 4154 105 0 100
3155 4155 4155 0 0 0
3156 4156 4156 0 0 0
3158 4158 4158 0 0 0
3159 4159 4159 0 0 0
3161 4161 4161 25700 0 25700
3165 4165 4165 20 0 55
3166 4166 4166 72 0 16730
3169 4169 4169 0 0 0
(for PS selection)
Motor model (old name) α100/4000HVi α100/4000HVi -
Applicable amplifier (old name) SPM-75HVi SPM-75HVi -
(*5) Spindle amplifiers indicated by A06B-612x-... are not applicable.
- 716 -
C.6 SPINDLE MOTOR αiIP series (400V)

Motor model αi IP 15/6000HV αi IP 22/6000HV αi IP 40/6000HV αi IP 50/6000HV αi IP 60/5000HV
Applicable amplifier αi SP15HV αi SP30HV αi SP30HV αi SP30HV αi SP30HV
Model code －－ 418 －－
Applicable software series and edition －－ 9D50/F,9D70/A －－
5/9kW 7.5/15kW 13/22kW 22/30kW 18.5/30kW
Low-speed winding characteristics -1 -1 -1 -1 -1
7.5/9kW 11/15kW 18.5/22kW 22/30kW 22/30kW
High-speed winding characteristics -1 -1 -1 -1 -1
FS30i -A
FS16i -B
FS15i- B FS30i -B
FS0i -C
FS0i -D
3007 4007 4007 00000000 00000000 00000000 00000000 00000000
3008 4008 4008 00000000 00010000 00000000 00000000 00000000
3009 4009 4009 00000000 00000000 00000000 00000000 00000000
3010 4010 4010 00000000 00000000 00000000 00000000 00000000
3011 4011 4011 00011010 00001010 00011010 00011010 00001010
3012 4012 4012 10000010 10000010 10000000 10000010 10000000
3013 4013 4013 00001100 01010000 01010000 01010000 01010000
3019 4019 4019 00000100 00000100 00000100 00000100 00000100
3020 4020 4020 6000 6000 6000 6000 5000
3023 4023 4023 125 125(*2) 96(*2) 167 150(*2)
3039 4039 4039 0 0 0 0 0
3040 4040 4040
3041 4041 4041
3048 4048 4048
3049 4049 4049
3080 4080 4080 95 75 73 80 80
3083 4083 4083 30 30 30 30 30
3093 4093 4093 216 240 203 164 195
3100 4100 4100 760 760 600 1120 863
3101 4101 4101 90 88 100 100 100
3102 4102 4102 1460 1240 889 1356 863
3103 4103 4103 60 0 75 85 0
3104 4104 4104 5000 5000 6400 6000 6000
3105 4105 4105 0 0 0 0 0
3106 4106 4106 12000 15000 6400 16000 14000
3107 4107 4107 0 0 0 0 0
3108 4108 4108 0 0 0 0 0
3109 4109 4109 25 25 25 25 25
3110 4110 4110 1384 1355 1098 838 764
3111 4111 4111 330 382 304 225 229
3112 4112 4112 200 200 200 200 200
3113 4113 4113 260 334 180 201 193
3114 4114 4114 0 20480 20480 0 0
3115 4115 4115 100 100 100 100 100
3116 4116 4116 4600 4500 6043 6202 5045
3117 4117 4117 90 90 90 90 90
3118 4118 4118 100 90 90 100 100
3119 4119 4119 37 29 53 48 49
3120 4120 4120 0 0 0 0 0
3124 4124 4124 0 0 0 0 0
3127 4127 4127 144 164 143 164 164
3128 4128 4128 103 105 115 104 0
3129 4129 4129 0 0 0 0 0
3130 4130 4130 25700 25700 25700 25700 25700
3134 4134 4134 130 130 130 130 130
3136 4136 4136 30 30 30 30 30
3138 4138 4138 530 500 430 699 500
3139 4139 4139 75 60 100 95 100
3140 4140 4140 726 717 661 699 500
3141 4141 4141 75 0 60 95 0
3142 4142 4142 10000 8500 8600 10000 11000
3143 4143 4143 28000 19000 8600 24000 22000
3144 4144 4144 0 0 0 0 0
3145 4145 4145 25 25 25 25 25
3146 4146 4146 1934 2357 2514 1374 1331
3147 4147 4147 465 620 726 395 424
3148 4148 4148 200 200 200 200 200
3149 4149 4149 330 332 185 188 194
3150 4150 4150 0 23040 23040 0 0
3151 4151 4151 100 100 100 100 100
3152 4152 4152 5167 5542 6040 6203 5045
3153 4153 4153 90 90 90 90 90
3154 4154 4154 100 90 90 100 100
3155 4155 4155 0 0 0 0 0
3156 4156 4156 0 0 0 0 0
3158 4158 4158 0 0 0 120 0
3159 4159 4159 0 0 0 0 0
3161 4161 4161 25700 25700 25700 25700 25700
3165 4165 4165 29 29 52 51 49
3166 4166 4166 80 85 65 63 70
3169 4169 4169 0 0 0 0 0
Maximum output during acceleration 13.5kW 20kW 29.0kW 35.4kW 36.0kW
(for PS selection)
Motor model (old name) α15/6000HVi P α22/6000HVi P α40/6000HVi P α50/6000HVi P -
Applicable amplifier (old name) SPM-15HVi SPM-30HVi SPM-30HVi SPM-30HVi -
- 717 -
C.7 SPINDLE MOTOR αiIT series (400V)

Motor model αi IT 1.5/15000HV αi IT 3/12000HV αi IT 6/12000HV αi IT 6/12000HV(*4) αi IT 8/12000HV αi IT 8/12000HV(*4) αi IT 8/15000HV αi IT 8/15000HV(*4)
Applicable amplifier αi SP15HV αi SP11HV αi SP15HV αi SP15HV αi SP15HV αi SP15HV αi SP30HV αi SP30HV
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 characteristics －－ -1 -1 -1 -1 -1
1500/12000min 1500/12000min 1500/12000min 1500/12000min 1500/4000min 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 characteristics －－－
3000/15000min-1 1500/12000min-1 4000/12000min -1
4000/12000min -1
4000/15000min -1
FS30i -A
FS16i -B
FS15i- B FS30i -B
FS0i -C
FS0i -D
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 acceleration 13kW 13kW 13kW 13kW 13.2kW 13.2kW 28kW 28kW
(for PS selection)
Motor model (old name) α1.5/15000HVi T α3/12000HVi T α6/12000HVi T α6/12000HVi T α8/12000HVi T α8/12000HVi T α8/15000HVi T α8/15000HVi T
Applicable amplifier (old name) SPM-15HVi SPM-11HVi SPM-15HVi SPM-15HVi SPM-15HVi SPM-15HVi SPM-30HVi SPM-30HVi
- 718 -
Motor model αi IT 15/10000HV αi IT 15/10000HV(*4) αi IT 15/12000HV αi IT 15/12000HV(*4) αi IT 15/15000HV αi IT 22/10000HV αi IT 22/10000HV(*4)
Applicable amplifier αi SP30HV αi SP30HV αi SP30HV αi SP30HV αi SP30HV αi SP30HV αi SP30HV
Model code －－－－－－－
Applicable software series and edition －－－－－－－
15/18.5kW 15/18.5kW 15/18.5/22kW 15/18.5/22kW 15/18.5/22kW 22/26kW 22/26kW
Low-speed winding characteristics
1500/10000min-1 1500/10000min-1 1400/4000min-1 1400/4000min-1 1400/4000min-1 1500/10000min-1 1500/10000min-1
15/18.5kW 15/18.5/22kW 15/18.5/22kW 22/26kW
High-speed winding characteristics -1 － -1 － -1 -1 －
4000/10000min 5000/12000min 5000/15000min 4000/10000min
FS30i -A
FS16i -B
FS15i- B FS30i -B
FS0i -C
FS0i -D
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 00011010 00011010 00011010 00011010 00011010 00011010 00011010
3012 4012 4012 10000010 10000010 10000000 10000000 10000000 10000010 10000010
3013 4013 4013 01010000 01010000 01010000 01010000 01010000 01010000 01010000
3019 4019 4019 00000100 00000100 00000100 00000100 00000100 00000100 00000100
3020 4020 4020 10000 10000 12000 4000 15000 10000 10000
3023 4023 4023 400(*2) 292(*2) 233(*2) 400(*2)
3039 4039 4039 0 0 0 0 0 0 0
3040 4040 4040
3041 4041 4041 6(*3)
3048 4048 4048
3049 4049 4049 6(*3)
3080 4080 4080 80 65 67 11354 19270 83 18517
3083 4083 4083 30 30 30 30 30 30 30
3093 4093 4093 148 0 176 0 176 142 0
3100 4100 4100 4000 1500 4600 1500 4600 3630 1500
3101 4101 4101 53 73 59 96 59 74 84
3102 4102 4102 3464 1972 4937 2494 4937 3318 1669
3103 4103 4103 70 65 94 0 94 93 82
3104 4104 4104 2800 4500 1800 3600 1800 2100 4000
3105 4105 4105 0 0 0 0 0 0 0
3106 4106 4106 2800 4500 3000 5500 3000 6300 12000
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 857 1499 870 1331 870 666 984
3111 4111 4111 229 425 295 470 295 160 270
3112 4112 4112 200 200 120 200 120 200 200
3113 4113 4113 280 280 400 440 400 265 275
3114 4114 4114 0 23040 0 0 0 0 0
3115 4115 4115 100 100 100 100 100 100 100
3116 4116 4116 5184 5153 9570 9567 9570 5000 4991
3117 4117 4117 90 90 90 90 90 90 90
3118 4118 4118 100 100 90 90 90 90 90
3119 4119 4119 34 34 1048 22 1048 50 70
3120 4120 4120 0 0 0 0 0 0 0
3124 4124 4124 0 0 0 0 0 0 0
3127 4127 4127 148 148 176 176 176 142 142
3128 4128 4128 0 0 0 0 0 98 103
3129 4129 4129 0 0 0 0 0 0 0
3130 4130 4130 25700 25700 25700 25700 25700 25700 25700
3134 4134 4134 130 130 130 130 130 130 130
3136 4136 4136 30 0 30 0 30 30 0
3138 4138 4138 1500 0 1500 0 1500 1500 0
3139 4139 4139 73 0 96 0 96 84 0
3140 4140 4140 1972 0 2494 0 2494 1669 0
3141 4141 4141 65 0 0 0 0 82 0
3142 4142 4142 4500 0 3600 0 3600 4000 0
3143 4143 4143 4500 0 5500 0 5500 12000 0
3144 4144 4144 0 0 0 0 0 0 0
3145 4145 4145 25 0 25 0 25 25 0
3146 4146 4146 1499 0 1331 0 1331 984 0
3147 4147 4147 425 0 470 0 470 270 0
3148 4148 4148 200 0 200 0 200 200 0
3149 4149 4149 280 0 440 0 440 275 0
3150 4150 4150 23040 0 0 0 0 0 0
3151 4151 4151 100 0 100 0 100 100 0
3152 4152 4152 5153 0 9567 0 9567 4991 0
3153 4153 4153 90 0 90 0 90 90 0
3154 4154 4154 100 0 90 0 90 90 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 0 103 0
3159 4159 4159 0 0 0 0 0 0 0
3161 4161 4161 25700 0 25700 0 25700 25700 0
3165 4165 4165 34 0 22 0 22 70 0
3166 4166 4166 65 0 11354 0 11354 18517 0
3169 4169 4169 0 0 0 0 0 0 0
Maximum output during acceleration 22.2kW 22.2kW 38kW 38kW 38kW 31.2kW 31.2kW
(for PS selection)
Motor model (old name) α15/10000HVi T α15/10000HVi T α15/12000HVi T α15/12000HVi T α15/15000HVi T α22/10000HVi T α22/10000HVi T
Applicable amplifier (old name) SPM-30HVi SPM-30HVi SPM-30HVi SPM-30HVi SPM-30HVi SPM-30HVi SPM-30HVi
- 719 -
C.8 SPINDLE MOTOR αiIL series (400V)

Motor model αi IL 8/20000HV αi IL 15/15000HV αi IL 26/15000HV
Applicable amplifier αi SP45HV αi SP45HV αi SP45HV
11/15kW 18.5/22kW 15/22kW
1150/4000min 1400/4000min 700/2000min
15/18.5kW 18.5/22kW 26/30kW
High-speed winding characteristics -1 -1 -1
5000/20000min 6000/15000min 2000/15000min
FS30i -A
FS16i -B
FS15i- B FS30i -B
FS0i -C
FS0i -D
3007 4007 4007 00000000 00000000 00000000
3008 4008 4008 00000000 00000000 00000000
3009 4009 4009 00000000 00000000 00000000
3010 4010 4010 00000001 00000001 00000001
3011 4011 4011 00011001 00011001 00011001
3012 4012 4012 10000010 10000010 10000010
3013 4013 4013 01010000 01010000 01010000
3019 4019 4019 00000100 00000100 00000100
3020 4020 4020 20000 15000 15000
3023 4023 4023 200(*2) 267(*2) 100
3039 4039 4039 0 0 0
3040 4040 4040
3041 4041 4041 3(*3) 5(*3) 7(*3)
3048 4048 4048
3049 4049 4049 3(*3) 5(*3) 7(*3)
3080 4080 4080 95 19792 14165
3083 4083 4083 30 30 30
3093 4093 4093 164 143 176
3100 4100 4100 5050 5500 2030
3101 4101 4101 53 44 79
3102 4102 4102 6274 5335 2633
3103 4103 4103 0 94 95
3104 4104 4104 3400 2300 3500
3105 4105 4105 0 0 0
3106 4106 4106 5000 2600 5500
3107 4107 4107 0 0 0
3108 4108 4108 0 0 0
3109 4109 4109 25 25 25
3110 4110 4110 862 1437 1508
3111 4111 4111 255 456 475
3112 4112 4112 200 200 200
3113 4113 4113 907 320 390
3114 4114 4114 0 0 0
3115 4115 4115 100 90 100
3116 4116 4116 9345 8423 4525
3117 4117 4117 90 90 90
3118 4118 4118 90 90 90
3119 4119 4119 523 30 24
3120 4120 4120 0 0 0
3124 4124 4124 0 0 0
3127 4127 4127 148 143 138
3128 4128 4128 112 95 98
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 1320 1480 810
3139 4139 4139 88 92 77
3140 4140 4140 3163 2777 1248
3141 4141 4141 0 0 0
3142 4142 4142 7000 4800 6500
3143 4143 4143 10000 5200 12000
3144 4144 4144 0 0 0
3145 4145 4145 25 25 25
3146 4146 4146 1207 2011 2011
3147 4147 4147 375 632 639
3148 4148 4148 200 200 200
3149 4149 4149 1140 380 450
3150 4150 4150 0 0 0
3151 4151 4151 100 100 100
3152 4152 4152 12110 9785 4525
3153 4153 4153 90 90 85
3154 4154 4154 90 90 85
3155 4155 4155 0 0 0
3156 4156 4156 0 0 0
3158 4158 4158 123 0 0
3159 4159 4159 0 0 0
3161 4161 4161 25700 25700 25700
3165 4165 4165 8 10 21
3166 4166 4166 95 14180 60
3169 4169 4169 0 0 0
(for PS selection)
Motor model (old name) α8/20000HVi L α15/15000HVi L －
Applicable amplifier (old name) SPM-45HVi SPM-45HVi －
- 720 -
C.9 SPINDLE MOTOR βiI series

Motor model βi I 3/10000 βi I 3/10000 βi I 3/10000 βi I 3/10000 βi I 6/10000 βi I 6/10000 βi I 6/10000
βi SVSPx-5.5 βi SVSPx-7.5 βi SVSPx-11 βi SVSPx-15 βi SVSPx-11 βi SVSPx-15
Applicable amplifier βi SVSPx-18
TYPE A TYPE D TYPE A,D TYPE A,D TYPE A,D TYPE A,D
Model code 332 336 337 338 333 339 -
Applicable software
9D50/I 9D50/U 9D50/Q 9D50/Q 9D50/I 9D50/Q -
series and edition
Continuous rated 3.7kW 3.7kW 3.7kW 3.7kW 5.5kW 5.5kW 5.5kW
characteristics 2000/10000min-1 2000/10000min-1 2000/10000min-1 2000/10000min-1 2000/10000min-1 2000/10000min-1 2000/10000min-1
15-min. rated 5.5kW 5.5kW 5.5kW 5.5kW 7.5kW 7.5kW 7.5kW
FS0i -D
FS0i -C
FS0i Mate-D
4007 4007 00000000 ← ← ← 00000000 ← ←
4008 4008 00000000 ← ← ← 00000000 ← ←
4009 4009 00000000 ← ← ← 00000000 ← ←
4010 4010 00010000 ← ← ← 00010000 ← ←
4011 4011 00011001 ← ← ← 00011001 ← ←
4012 4012 10000000 ← ← ← 10000000 ← ←
4013 4013 00001100 ← ← ← 00001100 ← ←
4019 4019 00000100 ← ← ← 00000100 ← ←
4020 4020 10000 ← ← ← 10000 ← ←
4023 4023
4039 4039 0 ← ← ← 0 ← ←
4040 4040
4041 4041
4048 4048
4049 4049
4080 4080 13412 ← ← ← 14170 ← ←
4083 4083 30 ← ← ← 30 ← ←
4093 4093 0 ← ← ← 0 ← ←
4100 4100 1700 ← ← ← 1550 ← ←
4101 4101 90 ← ← ← 90 ← ←
4102 4102 2154 ← ← ← 2621 ← ←
4103 4103 72 ← ← ← 58 ← ←
4104 4104 2500 ← ← ← 2000 ← ←
4105 4105 0 ← ← ← 0 ← ←
4106 4106 6600 ← ← ← 5500 ← ←
4107 4107 0 ← ← ← 0 ← ←
4108 4108 0 ← ← ← 0 ← ←
4109 4109 25 ← ← ← 25 ← ←
4110 4110 718 1149 1436 2154 520 780 1040
4111 4111 318 ← ← ← 208 ← ←
4112 4112 200 ← ← ← 200 ← ←
4113 4113 850 ← ← ← 800 ← ←
4114 4114 21760 ← ← ← 0 ← ←
4115 4115 100 ← ← ← 100 ← ←
4116 4116 7978 ← ← ← 7395 ← ←
4117 4117 90 ← ← ← 90 ← ←
4118 4118 100 ← ← ← 100 ← ←
4119 4119 11 ← ← ← 12 ← ←
4120 4120 0 ← ← ← 0 ← ←
4124 4124 0 ← ← ← 0 ← ←
4127 4127 164 ← ← ← 150 ← ←
4128 4128 120 ← ← ← 115 ← ←
4129 4129 0 ← ← ← 0 ← ←
4130 4130 25700 ← ← ← 25700 ← ←
4134 4134 110 ← ← ← 110 ← ←
4136 4136 0 ← ← ← 0 ← ←
4138 4138 0 ← ← ← 0 ← ←
4139 4139 0 ← ← ← 0 ← ←
4140 4140 0 ← ← ← 0 ← ←
4141 4141 0 ← ← ← 0 ← ←
4142 4142 0 ← ← ← 0 ← ←
4143 4143 0 ← ← ← 0 ← ←
4144 4144 0 ← ← ← 0 ← ←
4145 4145 0 ← ← ← 0 ← ←
4146 4146 0 ← ← ← 0 ← ←
4147 4147 0 ← ← ← 0 ← ←
4148 4148 0 ← ← ← 0 ← ←
4149 4149 0 ← ← ← 0 ← ←
4150 4150 0 ← ← ← 0 ← ←
4151 4151 0 ← ← ← 0 ← ←
4152 4152 0 ← ← ← 0 ← ←
4153 4153 0 ← ← ← 0 ← ←
4154 4154 0 ← ← ← 0 ← ←
4155 4155 0 ← ← ← 0 ← ←
4156 4156 0 ← ← ← 0 ← ←
4158 4158 0 ← ← ← 0 ← ←
4159 4159 0 ← ← ← 0 ← ←
4161 4161 0 ← ← ← 0 ← ←
4165 4165 0 ← ← ← 0 ← ←
4166 4166 0 ← ← ← 0 ← ←
4169 4169 0 ← ← ← 0 ← ←
Maximum output during 6.1kW 6.1kW 6.1kW 6.1kW 8.3kW 8.3kW 8.3kW
Motor model (old name) β3/10000i β3/10000i β3/10000i β3/10000i β6/10000i β6/10000i β6/10000i
Applicable amplifier
SVPMx-5.5i - SVPMx-11i SVPMx-15i SVPMx-11i SVPMx-15i -
(old name)
- 721 -
Motor model βi I 8/8000 βi I 8/8000 βi I 8/8000 βi I 8/10000 βi I 8/10000 βi I 8/10000 βi I 12/7000 βi I 12/7000
βi SVSPx-11 βi SVSPx-15 βi SVSPx-11 βi SVSPx-15 βi SVSPx-15
Applicable amplifier βi SVSPx-18 βi SVSPx-18 βi SVSPx-18
TYPE A,D TYPE A,D TYPE A,D TYPE A,D TYPE A,D
Model code 334 340 - 341 342 - 335 -
Applicable software
9D50/I 9D50/Q - 9D50/Q 9D50/Q - 9D50/I -
series and edition
Continuous rated 7.5kW 7.5kW 7.5kW 7.5kW 7.5kW 7.5kW 11kW 11kW
characteristics 2000/8000min-1 2000/8000min-1 2000/8000min-1 2000/10000min-1 2000/10000min-1 2000/10000min-1 2000/7000min-1 2000/7000min-1
15-min. rated 11kW 11kW 11kW 11kW 11kW 11kW 15kW 15kW
characteristics 1500/8000min-1 1500/8000min-1 1500/8000min-1 1500/10000min-1 1500/10000min-1 1500/10000min-1 1500/7000min-1 1500/7000min-1
FS0i -D
FS0i -C
FS0i Mate-D
4007 4007 00000000 ← ← ← ← ← 00000000 ←
4008 4008 00000000 ← ← ← ← ← 00000000 ←
4009 4009 00000000 ← ← ← ← ← 00000000 ←
4010 4010 00010000 ← ← ← ← ← 00010000 ←
4011 4011 00011010 ← ← ← ← ← 00011010 ←
4012 4012 10000000 ← ← ← ← ← 10000000 ←
4013 4013 00001100 ← ← ← ← ← 00001100 ←
4019 4019 00000100 ← ← ← ← ← 00000100 ←
4020 4020 8000 ← ← 10000 ← ← 7000 ←
4023 4023
4039 4039 0 ← ← ← ← ← 0 ←
4040 4040
4041 4041
4048 4048
4049 4049
4080 4080 75 ← ← ← ← ← 60 ←
4083 4083 30 ← ← ← ← ← 30 ←
4093 4093 0 ← ← ← ← ← 0 ←
4100 4100 1500 ← ← ← ← ← 1550 ←
4101 4101 95 ← ← ← ← ← 82 ←
4102 4102 2602 ← ← ← ← ← 1844 ←
4103 4103 64 ← ← ← ← ← 80 ←
4104 4104 2000 ← ← ← ← ← 3000 ←
4105 4105 0 ← ← ← ← ← 0 ←
4106 4106 6000 ← ← ← ← ← 8000 ←
4107 4107 0 ← ← ← ← ← 0 ←
4108 4108 0 ← ← ← ← ← 0 ←
4109 4109 25 ← ← ← ← ← 25 ←
4110 4110 887 1331 1774 887 1331 1774 1031 1375
4111 4111 381 ← ← ← ← ← 355 ←
4112 4112 200 ← ← ← ← ← 200 ←
4113 4113 500 ← ← ← ← ← 705 ←
4114 4114 0 ← ← ← ← ← 23040 ←
4115 4115 100 ← ← ← ← ← 100 ←
4116 4116 8000 ← ← ← ← ← 6300 ←
4117 4117 90 ← ← ← ← ← 90 ←
4118 4118 100 ← ← ← ← ← 100 ←
4119 4119 19 ← ← ← ← ← 14 ←
4120 4120 0 ← ← ← ← ← 0 ←
4124 4124 0 ← ← ← ← ← 0 ←
4127 4127 161 ← ← ← ← ← 150 ←
4128 4128 78 ← ← ← ← ← 95 ←
4129 4129 0 ← ← ← ← ← 0 ←
4130 4130 25700 ← ← ← ← ← 25700 ←
4134 4134 110 ← ← ← ← ← 110 ←
4136 4136 0 ← ← ← ← ← 0 ←
4138 4138 0 ← ← ← ← ← 0 ←
4139 4139 0 ← ← ← ← ← 0 ←
4140 4140 0 ← ← ← ← ← 0 ←
4141 4141 0 ← ← ← ← ← 0 ←
4142 4142 0 ← ← ← ← ← 0 ←
4143 4143 0 ← ← ← ← ← 0 ←
4144 4144 0 ← ← ← ← ← 0 ←
4145 4145 0 ← ← ← ← ← 0 ←
4146 4146 0 ← ← ← ← ← 0 ←
4147 4147 0 ← ← ← ← ← 0 ←
4148 4148 0 ← ← ← ← ← 0 ←
4149 4149 0 ← ← ← ← ← 0 ←
4150 4150 0 ← ← ← ← ← 0 ←
4151 4151 0 ← ← ← ← ← 0 ←
4152 4152 0 ← ← ← ← ← 0 ←
4153 4153 0 ← ← ← ← ← 0 ←
4154 4154 0 ← ← ← ← ← 0 ←
4155 4155 0 ← ← ← ← ← 0 ←
4156 4156 0 ← ← ← ← ← 0 ←
4158 4158 0 ← ← ← ← ← 0 ←
4159 4159 0 ← ← ← ← ← 0 ←
4161 4161 0 ← ← ← ← ← 0 ←
4165 4165 0 ← ← ← ← ← 0 ←
4166 4166 0 ← ← ← ← ← 0 ←
4169 4169 0 ← ← ← ← ← 0 ←
Maximum output during 12.1kW 12.1kW 12.1kW 12.1kW 12.1kW 12.1kW 16.5kW 16.5kW
Motor model (old name) β8/8000i β8/8000i β8/8000i β8/10000i β8/10000i β8/10000i β12/7000i β12/7000i
SVPMx-11i SVPMx-15i - SVPMx-11i SVPMx-15i SVPMx-15i SVPMx-15i -
(old name)
- 722 -
Motor model βi I 12/8000 βi I 12/8000 βi I 15/7000
βi SVSPx-15
Applicable amplifier βi SVSPx-18 βi SVSPx-18
TYPE A,D
Model code 343 - -
Applicable software
9D50/Q - -
series and edition
Continuous rated 11kW 11kW 15kW
characteristics 2000/8000min-1 2000/8000min-1 2000/7000min-1
15-min. rated 15kW 15kW 18.5kW
FS0i -D
FS0i -C
FS0i Mate-D
4007 4007 00000000 ← 00000000
4008 4008 00000000 ← 00000000
4009 4009 00000000 ← 00000000
4010 4010 00010000 ← 00010000
4011 4011 00011010 ← 00011010
4012 4012 10000000 ← 10000000
4013 4013 00001100 ← 00001100
4019 4019 00000100 ← 00000100
4020 4020 8000 ← 7000
4023 4023
4039 4039 0 ← 0
4040 4040
4041 4041
4048 4048
4049 4049
4080 4080 60 ← 15445
4083 4083 30 ← 30
4093 4093 0 ← 0
4100 4100 1550 ← 1550
4101 4101 82 ← 81
4102 4102 1844 ← 1610
4103 4103 80 ← 0
4104 4104 3000 ← 2500
4105 4105 0 ← 0
4106 4106 8000 ← 5000
4107 4107 0 ← 0
4108 4108 0 ← 0
4109 4109 25 ← 25
4110 4110 1031 1375 1426
4111 4111 355 ← 389
4112 4112 200 ← 200
4113 4113 705 ← 298
4114 4114 23040 ← 0
4115 4115 100 ← 100
4116 4116 6300 ← 4344
4117 4117 90 ← 90
4118 4118 100 ← 100
4119 4119 14 ← 32
4120 4120 0 ← 0
4124 4124 0 ← 0
4127 4127 150 ← 148
4128 4128 95 ← 0
4129 4129 0 ← 0
4130 4130 25700 ← 25700
4134 4134 110 ← 130
4136 4136 0 ← 0
4138 4138 0 ← 0
4139 4139 0 ← 0
4140 4140 0 ← 0
4141 4141 0 ← 0
4142 4142 0 ← 0
4143 4143 0 ← 0
4144 4144 0 ← 0
4145 4145 0 ← 0
4146 4146 0 ← 0
4147 4147 0 ← 0
4148 4148 0 ← 0
4149 4149 0 ← 0
4150 4150 0 ← 0
4151 4151 0 ← 0
4152 4152 0 ← 0
4153 4153 0 ← 0
4154 4154 0 ← 0
4155 4155 0 ← 0
4156 4156 0 ← 0
4158 4158 0 ← 0
4159 4159 0 ← 0
4161 4161 0 ← 0
4165 4165 0 ← 0
4166 4166 0 ← 0
4169 4169 0 ← 0
Maximum output during 16.5kW 16.5kW
Motor model (old name) β12/8000i β12/8000i −
SVPMx-15i - -
(old name)
- 723 -
C.10 SPINDLE MOTOR βiIP series

Motor model βi IP 8/6000 βi IP 15/6000 βi IP 15/6000 βi IP 15/6000 βi IP 18/6000 βi IP 18/6000 βi IP 18/6000
βi SVSPx-7.5 βi SVSPx-11 βi SVSPx-15 βi SVSPx-11 βi SVSPx-15
TYPE D TYPE D TYPE A,D TYPE D TYPE A,D
Model code － 350 351 - 353 352 -
Applicable software
－ 9D50/U 9D50/Q - 9D50/U 9D50/Q -
series and edition
Continuous rated 3.7kW 7.5kW 7.5kW 7.5kW 9kW 9kW 9kW
15-min. rated 5.5kW 9kW 9kW 9kW 11kW 11kW 11kW
FS0i -D
FS0i -C
FS0i Mate-D
4007 4007 00000000 00000000 ← ← 00000000 ← ←
4008 4008 00010000 00010000 ← ← 00010000 ← ←
4009 4009 00000000 00000000 ← ← 00000000 ← ←
4010 4010 00010000 00010000 ← ← 00010000 ← ←
4011 4011 00001010 00001010 ← ← 00001010 ← ←
4012 4012 10000000 10000000 ← ← 10000000 ← ←
4013 4013 00001100 00001100 ← ← 00001100 ← ←
4019 4019 00000100 00000100 ← ← 00000100 ← ←
4020 4020 6000 6000 ← ← 6000 ← ←
4023 4023
4039 4039 0 0 ← ← 0 ← ←
4040 4040
4041 4041
4048 4048
4049 4049
4080 4080 16474 20575 ← ← 21845 ← ←
4083 4083 30 30 ← ← 30 ← ←
4093 4093 0 0 ← ← 0 ← ←
4100 4100 800 750 ← ← 750 ← ←
4101 4101 65 79 ← ← 79 ← ←
4102 4102 1345 1566 ← ← 1191 ← ←
4103 4103 0 0 ← ← 0 ← ←
4104 4104 4500 2000 ← ← 3000 ← ←
4105 4105 0 0 ← ← 0 ← ←
4106 4106 7500 7000 ← ← 7000 ← ←
4107 4107 0 0 ← ← 0 ← ←
4108 4108 0 0 ← ← 0 ← ←
4109 4109 25 25 ← ← 25 ← ←
4110 4110 1106 943 1414 1886 793 1190 1586
4111 4111 503 503 ← ← 410 ← ←
4112 4112 200 200 ← ← 200 ← ←
4113 4113 730 228 ← ← 268 ← ←
4114 4114 23552 0 ← ← 0 ← ←
4115 4115 100 100 ← ← 100 ← ←
4116 4116 6255 5307 ← ← 4194 ← ←
4117 4117 90 90 ← ← 90 ← ←
4118 4118 100 100 ← ← 100 ← ←
4119 4119 13 42 ← ← 36 ← ←
4120 4120 0 0 ← ← 0 ← ←
4124 4124 0 0 ← ← 0 ← ←
4127 4127 164 132 ← ← 134 ← ←
4128 4128 110 90 ← ← 105 ← ←
4129 4129 0 0 ← ← 0 ← ←
4130 4130 25700 25700 ← ← 25700 ← ←
4134 4134 110 130 ← ← 130 ← ←
4136 4136 0 0 ← ← 0 ← ←
4138 4138 0 0 ← ← 0 ← ←
4139 4139 0 0 ← ← 0 ← ←
4140 4140 0 0 ← ← 0 ← ←
4141 4141 0 0 ← ← 0 ← ←
4142 4142 0 0 ← ← 0 ← ←
4143 4143 0 0 ← ← 0 ← ←
4144 4144 0 0 ← ← 0 ← ←
4145 4145 0 0 ← ← 0 ← ←
4146 4146 0 0 ← ← 0 ← ←
4147 4147 0 0 ← ← 0 ← ←
4148 4148 0 0 ← ← 0 ← ←
4149 4149 0 0 ← ← 0 ← ←
4150 4150 0 0 ← ← 0 ← ←
4151 4151 0 0 ← ← 0 ← ←
4152 4152 0 0 ← ← 0 ← ←
4153 4153 0 0 ← ← 0 ← ←
4154 4154 0 0 ← ← 0 ← ←
4155 4155 0 0 ← ← 0 ← ←
4156 4156 0 0 ← ← 0 ← ←
4158 4158 0 0 ← ← 0 ← ←
4159 4159 0 0 ← ← 0 ← ←
4161 4161 0 0 ← ← 0 ← ←
4165 4165 0 0 ← ← 0 ← ←
4166 4166 0 0 ← ← 0 ← ←
4169 4169 0 0 ← ← 0 ← ←
Maximum output during 6.1kW 9.9kW 9.9kW 9.9kW 12.1kW 12.1kW 12.1kW
Motor model (old name) − − − − − − −
(old name) − − − − − − −
- 724 -
Motor model βi IP 22/6000 βi IP 22/6000 βi IP 30/6000
βi SVSPx-15
TYPE A,D
Model code － - -
Applicable software
－ - -
series and edition
Continuous rated 11kW 11kW 15kW
-1 -1
characteristics 1000/6000min 1000/6000min 1000/6000min-1
15-min. rated 15kW 15kW 18.5kW
FS0i -D
FS0i -C
FS0i Mate-D
4007 4007 00000000 ← 00000000
4008 4008 00010000 ← 00010000
4009 4009 00000000 ← 00000000
4010 4010 00010000 ← 00010000
4011 4011 00001010 ← 00001010
4012 4012 10000000 ← 10000000
4013 4013 00001100 ← 00001100
4019 4019 00000100 ← 00000100
4020 4020 6000 ← 6000
4023 4023
4039 4039 0 ← 0
4040 4040
4041 4041
4048 4048
4049 4049
4080 4080 19275 ← 16730
4083 4083 30 ← 30
4093 4093 0 ← 0
4100 4100 770 ← 750
4101 4101 100 ← 100
4102 4102 953 ← 1007
4103 4103 0 ← 0
4104 4104 4000 ← 3500
4105 4105 0 ← 0
4106 4106 9000 ← 8000
4107 4107 0 ← 0
4108 4108 0 ← 0
4109 4109 25 ← 25
4110 4110 1077 1436 1143
4111 4111 333 ← 334
4112 4112 200 ← 200
4113 4113 300 ← 300
4114 4114 20480 ← 0
4115 4115 100 ← 100
4116 4116 4408 ← 4298
4117 4117 90 ← 90
4118 4118 100 ← 100
4119 4119 32 ← 32
4120 4120 0 ← 0
4124 4124 0 ← 0
4127 4127 150 ← 136
4128 4128 103 ← 0
4129 4129 0 ← 0
4130 4130 25700 ← 25700
4134 4134 130 ← 130
4136 4136 0 ← 0
4138 4138 0 ← 0
4139 4139 0 ← 0
4140 4140 0 ← 0
4141 4141 0 ← 0
4142 4142 0 ← 0
4143 4143 0 ← 0
4144 4144 0 ← 0
4145 4145 0 ← 0
4146 4146 0 ← 0
4147 4147 0 ← 0
4148 4148 0 ← 0
4149 4149 0 ← 0
4150 4150 0 ← 0
4151 4151 0 ← 0
4152 4152 0 ← 0
4153 4153 0 ← 0
4154 4154 0 ← 0
4155 4155 0 ← 0
4156 4156 0 ← 0
4158 4158 0 ← 0
4159 4159 0 ← 0
4161 4161 0 ← 0
4165 4165 0 ← 0
4166 4166 0 ← 0
4169 4169 0 ← 0
Maximum output during 16.5kW 9.9kW −
Motor model (old name) − − −
(old name) − − −
- 725 -
C.11 SPINDLE MOTOR βiIc series

Motor model βi Ic3/6000 βi Ic6/6000 βi Ic8/6000
Applicable amplifier βi SVSPc*-7.5 βi SVSPc*-7.5L βi SVSPc*-11
Model code 271 272 273

Applicable software
9D60/F 9D60/F 9D60/F
series and edition
Continuous rated 3.7kW 5.5kW 7.5kW
15-min. rated 5.5kW 7.5kW 11kW
FS0i Mate-TD
4000 00000000 00000000 00000000

4001 00000001 00000001 00000001
4002 00000010(*1) 00000010(*1) 00000010(*1)
4003 00000000 00000000 00000000
4005 00000001 00000001 00000001
4006 00000000 00000000 00000000
4007 00000000 00000000 00000000
4008 00001000 00001000 00001000
4011 00001000 00001000 00001000
4012 00000000 00000000 00000000
4013 00001100 00001100 00001100
4019 00000000 00000000 00000000
4020 6000 6000 6000
(*2)
4040~4045 24 34(*2) 28(*2)
4048~4053 607(*2) 844(*2) 696(*2)
4080 75 75 80
4083 60 60 60
4084 60 60 60
4085 60 60 60
4100 1600 1607 1450
4101 90 65 90
4102 1800 1607 1799
4103 53 53 36
4104 400 300 400
4105 25 25 25
4106 100 100 100
4107 0 0 0
4108 200 200 200
4109 25 25 25
4110 929 623 580
4111 250 276 250
4112 200 200 200
4113 1000 897 680
4114 0 0 0
4115 100 100 100
4116 8500 7393 8001
4117 29530 120 32090
4118 120 120 100
4119 10 21 12
4120 15 15 15
4124 0 0 0
4127 164 150 161
4128 0 90 90
4129 0 0 0
4130 100 100 100
4131 12900 12900 12900
4134 110 110 110
4138 1500 1700 4350
4139 150 150 450
4140 5600 6000 5800
4141 680 650 600
4142 0 0 0
4143 0 0 0
4362 -28572 -30645 -32693
4363 -30495 30820 -26424
4364 28972 31020 26924
(*1) This setting is applied to when the position coder is attached to the spindle.
　　 When using the αiBZ sensor, set bits 3, 2, 1, 0 of parameter No. 4002 to 0, 0, 1, 1,
　　 respectively, and set bits 7, 6, 5, 4 of parameter No. 4003 or parameter No. 4361
depending on the number of sensor teeth.
(*2) Since these values are the standard values for the motor alone, they need to be
changed as shown below depending on the load state of an actual machine.
Setting = (machine load inertia/motor inertia + 1) * standard value of motor alone
- 726 -
C.12 SPINDLE MOTOR αCi series

Motor model αC1/6000i αC2/6000i αC3/6000i αC6/6000i αC8/6000i αC12/6000i αC15/6000i
Applicable amplifier SPMC-2.2i SPMC-5.5i SPMC-5.5i SPMC-11i SPMC-11i SPMC-15i SPMC-22i
Model code
240 241 242 243 244 245 246
(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 PS selection)
- 727 -
D.LISTS OF ALARMS/STATE ERRORS APPENDIX B-65280EN/08
D LISTS OF ALARMS/STATE ERRORS

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)”.
When two rows are present in the [LED display] field, the upper row indicates SP, PS, and SVSP for
specification drawing numbers A06B-61xx-... and the lower row indicates SP, PS, and SVSP for
specification drawing numbers A06B-62xx-...
Alarm No. LED display

Description
15i 16i 30i SP PS
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
04 E
SP0004 9004 SP9004 Open phase in the converter main power supply
14
SP0006 9006 SP9006 06 Temperature sensor disconnected
SP0007 9007 SP9007 07 Overspeed
SP0009 9009 SP9009 09 Main circuit overload/IPM overheat
SP0010 9010 SP9010 10 Low power supply input voltage
11 7
SP0011 9011 SP9011 Converter: DC link overvoltage
07
SP0012 9012 SP9012 12 DC link overcurrent/IPM alarm
SP0014 9014 SP9014 14 Amplifier ID not registered
SP098x 750 SP12xx 13 CPU internal data memory error
SP0015 9015 SP9015 15 Speed range switching/spindle switching alarm
9016 SP9016 16 RAM error
SP0017 9017 SP9017 17 Amplifier ID data 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
SP0022 9022 SP9022 22 Spindle amplifier current overload
SP022x 749 SP12xx 24 Serial communication error
SP0027 9027 SP9027 27 Position coder disconnected
SP0029 9029 SP9029 29 Short-time overload
30 1
SP0030 9030 SP9030 Overcurrent in the converter input circuit
01
SP0031 9031 SP9031 31 Motor lock alarm
SP0032 9032 SP9032 32 Serial communication LSI RAM error
33 5
SP0033 9033 SP9033 Converter: DC link precharge failure
05
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
- 728 -
B-65280EN/08 APPENDIX D.LISTS OF ALARMS/STATE ERRORS

Description
15i 16i 30i SP PS
SP0042 9042 SP9042 42 Position coder one-rotation signal not detected
Position coder signal for differential speed mode
SP0043 9043 SP9043 43
disconnected
Position sensor one-rotation signal detection error during
SP0046 9046 SP9046 46
thread cutting
SP0047 9047 SP9047 47 Position coder signal error
SP9049 49 Overflow of converted motor speed for differential spindle
SP0049 9049
speed control
Excessive speed command calculation value during
SP0050 9050 SP9050 50
51 4 Converter: DC link low voltage
SP0051 9051 SP9051
04
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
SP0056 9056 SP9056 56 Internal cooling fan stopped
57 H
SP0057 9057 SP9057 Converter: excessive deceleration power
16
58 3
SP0058 9058 SP9058 Converter: main circuit overload
03
59 2
SP0059 9059 SP9059 Converter: cooling fan stopped
02
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
9069 SP9069 69 Safety speed exceeded
9070 SP9070 70 Abnormal axis data
9071 SP9071 71 Abnormal safety parameter
9072 SP9072 72 Motor speed mismatch
SP0073 9073 SP9073 73 Motor sensor disconnected
9074 SP9074 74 CPU test alarm
9075 SP9075 75 CRC test alarm
9076 SP9076 76 Safety function not executed
9077 SP9077 77 Axis number mismatch
9078 SP9078 78 Safety parameter mismatch
9079 SP9079 79 Abnormal initial test operation
Destination amplifier error in inter-spindle amplifier
SP0080 9080 SP9080 80
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
SP0090 9090 SP9090 90 Unexpected rotation alarm
SP0091 9091 SP9091 91 Pole position count miss alarm
- 729 -

Description
15i 16i 30i SP PS
SP0092 9092 SP9092 92 Velocity command-dependent overspeed alarm
SP0110 9110 SP9110 b0 Communication error between amplifier modules
b1 6
SP0111 9111 SP9111 Converter: control power supply low voltage
06
b2 8
SP0112 9112 SP9112 Converter: excessive regenerative power
08
b3 A
SP0113 9113 SP9113 Converter: cooling fan stopped of the radiator
10
SP9114 b4 Invalid specification of PS management axis 1
SP9115 b5 Invalid specification of PS management axis 2
SP0120 9120 SP9120 C0 Communication data alarm
SP0123 9123 SP9123 C3 Spindle switch circuit error
SP9124 C4 Invalid speed specification during learning control
Invalid dynamic characteristics compensation order during
SP9125 C5
learning control
SP0126 9126 SP9126 C6 Spindle speed exceeded
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
SP0131 9131 SP9131 d1 Spindle Tuning function alarm
SP0132 9132 SP9132 d2 Serial data error
SP0133 9133 SP9133 d3 Data transfer error
SP0134 9134 SP9134 d4 Soft phase alarm
SP9135 d5 Safety speed zero monitoring error
SP9136 d6 Safety speed zero monitoring mismatch
SP0137 9137 SP9137 d7 Device communication error
SP0139 9139 SP9139 d9 Pulse error alarm
SP0140 9140 SP9140 E0 Count error alarm
SP9141 E1 Serial sensor one-rotation signal not detected
SP9142 E2 Serial sensor abnormal
SP9143 E3 Cs axis high-speed switching function command abnormal
SP9144 E4 Current detection circuit abnormal
SP9145 E5 Driver voltage low
SP9146 E6 SP inside overheat
SP9147 E7 SP ground fault
SP9148 E8 Axis number not set
SP9153 F3 SP normal
SP9154 F4 Phase-to-phase open
SP9155 F5 SP abnormal （OPEN）
SP9156 F6 Current control bad
SP9157 F7 SP abnormal (SHORT)
SP9160 G0 SP thermistor wire break
SP9161 G1 Motor power line short-circuited
SP9200 09 PS ground fault
SP9201 11 PS input overcurrent 2
SP9204 15 PS soft thermal
SP9205 17 PS DC link unit overcurrent 2
- 730 -

Description
15i 16i 30i SP PS
SP9208 20 PS DC link unit low voltage 2
SP9211 23 Invalid PS parameter
SP9212 24 PS hardware error
UU FSSB master port wire break
LL FSSB slave port wire break
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 (SP) is turned on, and an error code is displayed. The error is also displayed on the
diagnosis screen of the CNC.
Diagnostic number
Content
FS15i FS16i FS30i
710 (1st spindle)
711 (2nd spindle)
1561 710 State error number
730 (3rd spindle)
731 (4th spindle)
When the spindle motor malfunctions, check the error code 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
Check the *ESP and MRDY sequence. For
signal and common power supply (PS) contact
MRDY, pay attention to the parameter setting
01 signal) nor MRDY (machine ready signal) is input,
regarding the use of the MRDY signal (bit 0 of
SFR (forward rotation signal)/SRV (reverse
parameter No. 4001).
rotation signal)/ORCM (orientation command) 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
03 (to exercise no position control), the Cs contouring Check the parameter setting.
control command is input.
In this case, the motor is not excited.
(to exercise no position control), a command for
04 servo mode (such as rigid tapping and spindle Check the parameter setting.
positioning) or spindle synchronous control is
input.
Although the option parameter of the orientation
Check the parameter setting of the orientation
05 function is not set, the ORCM (orientation
function.
command) 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).
- 731 -

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
Although Cs contour control mode is set, another
command, do not specify another mode. Before
10 mode (servo mode, spindle synchronous control,
entering another mode, cancel the Cs contour
or orientation) is specified.
control command.
Although servo mode (rigid tapping, or spindle
During execution of the servo mode command,
positioning, etc.) is set, another mode (Cs contour
11 do not specify another mode. Before entering
control, spindle synchronous control, or
another mode, cancel the servo mode.
orientation) is specified.
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,
Before entering another mode, cancel the
servo mode, or orientation) is specified.
spindle synchronous control command.
Although the orientation command is being During execution of the orientation command,
13 executed, another mode (Cs contour control, servo do not specify another mode. Before entering
mode, or spindle synchronous control) is specified. another 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.
Although a parameter setting (bit 5 of parameter
No. 4000 = 0) is made to use no differential spindle Check the parameter setting and differential
16
speed control function, DEFMD (differential speed speed mode command.
mode command) is input.
Setting of the speed detector parameter (bits 2, 1,
17 and 0 of parameter No. 4011) is invalid. Check the parameter setting.
The corresponding speed detector is not present.
18 Check the parameter setting and input signal.
(to exercise no position control), position coder
method orientation is specified.
Although the magnetic sensor method orientation During the execution of the orientation
command is specified, another mode (Cs command, do not specify another mode.
19
contouring control, servo mode, or spindle Before changing the mode to another mode,
synchronous control) is specified. cancel the orientation command.
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 when Specify spindle synchronous control after
22
tandem operation is enabled. canceling torque tandem operation.
A tandem operation command is input even if the Torque tandem control requires the CNC
23
option is not specified. software option. Check the option.
For successive indexing in position coder method Check INCMD (incremental command).
orientation, an incremental operation (INCMD = 1) When specifying the absolute position
24
is first performed, then an absolute position command successively, be sure to perform
command (INCMD = 0) is input. absolute position command orientation first.
Parameter settings are made to use both spindle
26 switching and three stage speed range switching Check the parameter settings and input signals.
control.
- 732 -

The shortest time orientation function is
Parameter settings for using the shortest time
unusable with the αi series spindle amplifier.
29 orientation function (bit 6 of No. 4018 = 0, No.
Using optimum orientation function is
4320 to No. 4323 ≠ 0) are made.
recommended.
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 detection completed state
The magnetic pole undetected state is set, but a (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.
Although S0 is not specified for the speed mode,
Specify S0 for the speed mode before enabling
the parameter setting is made to enable the
32 the disturbance input function (setting bit 7 of
disturbance input function (bit 7 of parameter No.
parameter No. 4395 to 1).
4395 = 1).
The hardware configuration disables the use of the
33 spindle EGB function. Check the model of the CNC.
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.
ID information of the spindle amplifier cannot be Replace the spindle amplifier with one for which
35
obtained. correct ID information is written.
The sub module SM (SSM) is abnormal.
*1) Disconnection of the interface signal between For action to be taken for this error, see Section
36
the spindle amplifier and SSM 1.4, “SUB MODULE SM”, in Part IV.
*2) SSM failure
The current loop setting (parameter No. 4012) is Check the setting of parameter No. 4012, and
37
changed. turn the power off, then on again.
Parameters related to inter-spindle amplifier
communication are not set correctly, or functions
that cannot be used together with the torque
tandem function are set.
DSCN (disconnection detection disable signal) is Check the sequence.
input in the state where SFR (forward rotation Do not input DSCN (disconnection detection
39
command), SRV (reverse rotation command), or disable signal) while a command for motor
ORCM (orientation command) is input. activation is input.
A setting unavailable with the αiCZ sensor (serial) Check the parameters.
43
is made. (*1)
The spindle amplifier does not support the control Check the setting of parameter No. 4012.
44
frequency setting.
- 733 -
NOTE
1 If state error 43 is displayed, check the following items. The items to be checked
differ depending on the spindle software series and edition.
Series 9D80/E(05), F(06): Items <1> to <12>
Series 9D80/G(07): Items <1> to <9>, <12>, and <13>
Series 9D80/H(08): Items <1> to <9>, <13>, and <14>
Series 9D90/A(01): Items <1> to <9>, <13>, and <14>
Series 9DA0/A(01): Items <1> to <9>, <13>, and <14>
<1> The setting is made so that the αiCZ sensor (serial) is used as both of the
motor and spindle sensors. (No.4010#2,1,0=0,1,0 and
No.4002#3,2,1,0=0,1,1,0)
<2> Spindle HRV control is not set. (No.4012#7=0)
<3> The use of the differential spindle speed control function is set.
(No.4000#5=1)
<4> The use of the spindle switching control function is set. (No.4014#0=1)
<5> The setting is made so that alarms related to position feedback are not
detected. (No.4007#6=1 or No.4016#5=0)
<6> The setting is made so that feedback signal disconnection is not detected.
(No.4007#5=1)
<7> The setting is made so that alarms related to threading position detection
signal feedback are not detected. (No.4016#5=0)
<8> The use of an external one-rotation signal is set. (No.4004#2=1)
<9> The use of a position coder is set. (No.4002#3,2,1,0=0,0,1,0)
<10> The setting is made so that the synchronous built-in spindle motor is
driven. (No.4012#6=1)
<11> The use of inter-spindle amplifier communication is set. (No.4352#7=1 or
No.4352#6=1)
<12> The use of the dual check safety function is set.
<13> The use of the spindle tandem function is set. (No.4015#3=1)
<14> The use of the αiCZ sensor (serial) as the motor sensor is set and the
dual check safety function is enabled.
- 734 -
B-65280EN/08 APPENDIX E.TABLE OF I/O SIGNALS RELATED TO SPINDLE CONTROL
E TABLE OF I/O SIGNALS RELATED TO

SPINDLE CONTROL
E.1 αi SERIES SPINDLE
E.1.1 Input Signals (PMC→CNC)

(1) Series 16i
#7 #6 #5 #4 #3 #2 #1 #0
*SSTP2 *SSTP1 SWS2 SWS1
Common to all axes G027 CON
(*1) (*1) (*1) (*1)
Common to all axes G038 SPPHS SPSYC
Common to all axes G061 RGTAP

NOTE
(2) Series 30i

#7 #6 #5 #4 #3 #2 #1 #0
G021 SVR08I SVR07I SVR06I SVR05I SVR04I SVR03I SVR02I SVR01I
G022 SVSP SVGN DFSYC SVR12I SVR11I SVR10I SVR09I
*SSTP4 SWS4
G026 PC4SLC PC3SLC
(*1) (*1)
*SSTP3 *SSTP2 *SSTP1 SWS3 SWS2 SWS1
G027 CON
(*1) (*1) (*1) (*1) (*1) (*1)
G028 PC2SLC SPSTPA *SCPFA *SUCPFA GR12 GR11
G029 *SSTP SOR SAR GR32 GR31 GR22 GR21
G031 PKESS2 PKESS1 GR42 GR41
Common to all axes G038 SPPHS SPSYC SBRT
RGTSP4 RGTSP3 RGTSP2 RGTSP1
G061 SYSS RGTAP
(*1) (*1) (*1) (*1)
Common to all axes G064 ESRSYC
G122 PKESS2 PKESS1
G264 ESSYC4 ESSYC3 ESSYC2 ESSYC1
G265 PKESE4 PKESE3 PKESE2 PKESE1
G274 CSFI4 CSFI3 CSFI2 CSFI1 CONS4 CONS3 CONS2 CONS1
G288 SPSYC4 SPSYC3 SPSYC2 SPSYC1
G289 SPPHS4 SPPHS3 SPPHS2 SPPHS1
G351 SSEGB4 SSEGB3 SSEGB2 SSEGB1
G400 *SUCPFD *SUCPFC *SUCPFB
- 735 -
E.TABLE OF I/O SIGNALS RELATED TO SPINDLE CONTROL APPENDIX B-65280EN/08
G401 *SCPFD *SCPFC *SCPFB

G402 SPSTPD SPSTPC SPSTPB
G521 SRVON8 SRVON7 SRVON6 SRVON5 SRVON4 SRVON3 SRVON2 SRVON1
G523 SVRVS8 SVRVS7 SVRVS6 SVRVS5 SVRVS4 SVRVS3 SVRVS2 SVRVS1
G533 SSRS SSR4 SSR3 SSR2 SSR1
G536 SPSP
1st- G030 SOV7 SOV6 SOV5 SOV4 SOV3 SOV2 SOV1 SOV0
2nd- G376 SOV27 SOV26 SOV25 SOV24 SOV23 SOV22 SOV21 SOV20
3rd- G377 SOV37 SOV36 SOV35 SOV34 SOV33 SOV32 SOV31 SOV30
4th- G378 SOV47 SOV46 SOV45 SOV44 SOV43 SOV42 SOV41 SOV40
3rd- G036 R08I3 R07I3 R06I3 R05I3 R04I3 R03I3 R02I3 R01I3
4th- G272 R08I4 R07I4 R06I4 R05I4 R04I4 R03I4 R02I4 R01I4

3rd- G037 SIND3 SSIN3 SGN3 R12I3 R11I3 R10I3 R09I3
4th- G273 SIND4 SSIN4 SGN4 R12I4 R11I4 R10I4 R09I4
1st- G078 SH07A SH06A SH05A SH04A SH03A SH02A SH01A SH00A
1st- G079 SH11A SH10A SH09A SH08A
2nd- G080 SH07B SH06B SH05B SH04B SH03B SH02B SH01B SH00B
2nd- G081 SH11B SH10B SH09B SH08B
3rd- G208 SH07C SH06C SH05C SH04C SH03C SH02C SH01C SH00C
3rd- G209 SH11C SH10C SH09C SH08C
4th- G270 SH07D SH06D SH05D SH04D SH03D SH02D SH01D SH00D
4th- G271 SH11D SH10D SH09D SH08D
NOTE
(3) Series 15i

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

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
- 736 -
3rd- G204 MRDYC ORCMC SFRC SRVC CTH1C CTH2C TLMHC TLMLC
4th- G266 MRDYD ORCMD SFRD SRVD CTH1D CTH2D TLMHD TLMLD
1st- G226 G071 G071 RCHA RSLA INTGA SOCNA MCFNA SPSLA *ESPA ARSTA
2nd- G234 G075 G075 RCHB RSLB INTGB SOCNB MCFNB SPSLB *ESPB ARSTB
3rd- G205 RCHC RSLC INTGC SOCNC MCFNC SPSLC *ESPC ARSTC
4th- G267 RCHD RSLD INTGD SOCND MCFND SPSLD *ESPD ARSTD
1st- G229 G072 G072 RCHHGA MFNHGA INCMDA OVRA DEFMDA NRROA ROTAA INDXA
2nd- G237 G076 G076 RCHHGB MFNHGB INCMDB OVRB DEFMDB NRROB ROTAB INDXB
3rd- G206 RCHHGC MFNHGC INCMDC OVRC DEFMDC NRROC ROTAC INDXC
4th- G268 RCHHGD MFNHGD INCMDD OVRD DEFMDD NRROD ROTAD INDXD
1st- G228 G073 G073 DSCNA SORSLA MPOFA SLVA

2nd- G236 G077 G077 DSCNB SORSLB MPOFB SLVB
3rd- G207 DSCNC SORSLC MPOFC SLVC
4th- G269 DSCND SORSLD MPOFD SLVD
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
GR3O GR2O GR1O
F034
(*1) (*1) (*1)
F037 R12O R11O R10O R09O
F044 SYCAL FSPPH FSPSY FSCSL
RGSPM RGSPP
F065
(*1) (*1)
F076 RTAP
NOTE
(2) Series 30i

#7 #6 #5 #4 #3 #2 #1 #0
Common to all axes F001 ENB
Common to all axes F002 CSS
- 737 -
GR3O GR2O GR1O

F034 SRSRDY SRSP1R SRSP2R SRSP3R SRSP4R
(*1) (*1) (*1)
F038 ENB3 ENB2 SUCLPA SCLPA
F035 SPAL
F039 ENB4 MSPOSA
F043 SYCAL4 SYCAL3 SYCAL2 SYCAL1
Common to all axes F044 SYCAL FSPPH FSPSY FSCSL
RGSPM RGSPP
Common to all axes F065 RSMAX
(*1) (*1)
Common to all axes F076 RTAP
F090 SVSPM SVAR SYSSM SYAR
Common to all axes F094 ZP8 ZP7 ZP6 ZP5 ZP4 ZP3 ZP2 ZP1
Common to all axes F160 MSP07 MSP06 MSP05 MSP04 MSP03 MSP02 MSP01 MSP00
Common to all axes F264 SPWRN8 SPWRN7 SPWRN6 SPWRN5 SPWRN4 SPWRN3 SPWRN2 SPWRN1
Common to all axes F265 SPWRN9
F274 CSFO4 CSFO3 CSFO2 CSFO1 FCSS4 FCSS3 FCSS2 FCSS1
F288 FSPSY4 FSPSY3 FSPSY2 FSPSY1
F289 FSPPH4 FSPPH3 FSPPH2 FSPPH1
SSEGBM SSEGBM SSEGBM SSEGBM
F351
4 3 2 1
F376 SVSST8 SVSST7 SVSST6 SVSST5 SVSST4 SVSST3 SVSST2 SVSST1
F377 SVSAR8 SVSAR7 SVSAR6 SVSAR5 SVSAR4 SVSAR3 SVSAR2 SVSAR1
F400 SUCLPD SUCLPC SUCLPB
F401 SCLPD SCLPC SCLPB
F402 MSPOSD MSPOSC MSPOSB
F521 SVREV8 SVREV7 SVREV6 SVREV5 SVREV4 SVREV3 SVREV2 SVREV1
F522 SPP8 SPP7 SPP6 SPP5 SPP4 SPP3 SPP2 SPP1
1st- F036 R08O R07O R06O R05O R04O R03O R02O R01O
1st- F037 R12O R11O R10O R09O
2nd- F200 R08O2 R07O2 R06O2 R05O2 R04O2 R03O2 R02O2 R01O2
2nd- F201 R12O2 R11O2 R10O2 R09O2
3rd- F204 R08O3 R07O3 R06O3 R05O3 R04O3 R03O3 R02O3 R01O3
3rd- F205 R12O3 R11O3 R10O3 R09O3
4th- F270 R08O4 R07O4 R06O4 R05O4 R04O4 R03O4 R02O4 R01O4
4th- F271 R12O4 R11O4 R10O4 R09O4
1st- F040 AR07 AR06 AR05 AR04 AR03 AR02 AR01 AR00
2nd- F202 AR072 AR062 AR052 AR042 AR032 AR022 AR012 AR002
3rd- F206 AR073 AR063 AR053 AR043 AR033 AR023 AR013 AR003
4th- F272 AR074 AR064 AR054 AR044 AR034 AR024 AR014 AR004
1st- F045 TLMA LDT2A LDT1A

2nd- F049 TLMB LDT2B LDT1B
3rd- F168 TLMC LDT2C LDT1C
4th- F266 TLMC LDT2D LDT1D
1st- F048 CSPENA

2nd- F052 CSPENB
- 738 -
3rd- F171 CSPENC

4th- F269 CSPEND
NOTE
(3) Series 15i

#7 #6 #5 #4 #3 #2 #1 #0
F064 ZP1
F068 ZP2
: :
F067 MSCNTR1
F071 MSCNTR2
: :
Common to all axes F155 RSPC RSPM RSPP
1st- F341 SRRDYA

2nd- F342 SRRDYB
(4) Common to CNCs

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
3rd- F168 ORARC TLMC LDT2C LDT1C SARC SDTC SSTC ALMC
4th- F266 ORARD TLMD LDT2D LDT1D SARD SDTD SSTD ALMD
1st- F228 F046 F046 SLVSA RCFNA RCHPA CFINA CHPA

2nd- F244 F050 F050 SLVSB RCFNB RCHPB CFINB CHPB
- 739 -
3rd- F169 SLVSC RCFNC RCHPC CFINC CHPC

4th- F267 SLVSD RCFND RCHPD CFIND CHPD

3rd- F170 EXOFC SORENC INCSTC PC1DTC
4th- F268 EXOFD SOREND INCSTD PC1DTD
1st- F230 F048 F048 CSPENA

2nd- F246 F052 F052 CSPENB
3rd- F171 CSPENC
4th- F269 CSPEND
E.2 αCi SERIES SPINDLE

(1) Series 16i
#7 #6 #5 #4 #3 #2 #1 #0
G027
(*1) (*1) (*1) (*1)
G028 GR2 GR1
G029 *SSTP SOR SAR
G038 SPPHS SPSYC
G061 RGTAP
NOTE
(2) Series 30i

#7 #6 #5 #4 #3 #2 #1 #0
G027
(*1) (*1) (*1) (*1)
G028 GR2 GR1
G029 *SSTP SOR SAR
G038 SPPHS SPSYC
G061 RGTAP
NOTE
(3) Series 15i

#7 #6 #5 #4 #3 #2 #1 #0
- 740 -
G067 SCNTR1
G071 SCNTR2
: :


(4) Common to CNCs

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
TLMLA
1st- G227 G070 G070 MRDYA ORCMA SFRA SRVA CTH1A CTH2A TLMHA
(*1)
TLMLB
2nd- G235 G074 G074 MRDYB ORCMB SFRB SRVB CTH1B CTH2B TLMHB
(*1)
1st- G226 G071 G071 INTGA *ESPA ARSTA

2nd- G234 G075 G075 INTGB *ESPB ARSTB


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.

(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
GR3O GR2O GR1O
F034
(*1) (*1) (*1)
F037 R12O R11O R10O R09O
RGSPM RGSPP
F065
(*1) (*1)
F076 RTAP
- 741 -
NOTE
(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
GR3O GR2O GR1O
F034
(*1) (*1) (*1)
F037 R12O R11O R10O R09O
RGSPM RGSPP
F065
(*1) (*1)
F076 RTAP
NOTE
(3) Series 15i

#7 #6 #5 #4 #3 #2 #1 #0
F064 ZP1
F068 ZP2
: :
F067 MSCNTR1
F071 MSCNTR2
: :
- 742 -
#7 #6 #5 #4 #3 #2 #1 #0
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
E.3 BiS SERIES SPINDLE

(1) Series 16i
#7 #6 #5 #4 #3 #2 #1 #0
Common to all axes G027 CON
(*1) (*1) (*1) (*1)
Common to all axes G038 SPPHS SPSYC
Common to all axes G061 RGTAP

NOTE
(2) Series 30i

#7 #6 #5 #4 #3 #2 #1 #0
G021 SVR08I SVR07I SVR06I SVR05I SVR04I SVR03I SVR02I SVR01I
G022 SVSP SVGN DFSYC SVR12I SVR11I SVR10I SVR09I
*SSTP4 SWS4
Common to all axes G026 PC4SLC PC3SLC
(*1) (*1)
- 743 -
*SSTP3 *SSTP2 *SSTP1 SWS3 SWS2 SWS1

G027 CON
(*1) (*1) (*1) (*1) (*1) (*1)
G028 PC2SLC SPSTPA *SCPFA *SUCPFA GR12 GR11
G029 *SSTP SOR SAR GR32 GR31 GR22 GR21
G031 PKESS2 PKESS1 GR42 GR41
Common to all axes G038 SPPHS SPSYC SBRT
RGTSP4 RGTSP3 RGTSP2 RGTSP1
G061 SYSS RGTAP
(*1) (*1) (*1) (*1)
Common to all axes G064 ESRSYC
G122 PKESS2 PKESS1
G264 ESSYC4 ESSYC3 ESSYC2 ESSYC1
G265 PKESE4 PKESE3 PKESE2 PKESE1
G274 CSFI4 CSFI3 CSFI2 CSFI1 CONS4 CONS3 CONS2 CONS1
G288 SPSYC4 SPSYC3 SPSYC2 SPSYC1
G289 SPPHS4 SPPHS3 SPPHS2 SPPHS1
G351 SSEGB4 SSEGB3 SSEGB2 SSEGB1
G400 *SUCPFD *SUCPFC *SUCPFB
G401 *SCPFD *SCPFC *SCPFB
G402 SPSTPD SPSTPC SPSTPB
G521 SRVON8 SRVON7 SRVON6 SRVON5 SRVON4 SRVON3 SRVON2 SRVON1
G523 SVRVS8 SVRVS7 SVRVS6 SVRVS5 SVRVS4 SVRVS3 SVRVS2 SVRVS1
G533 SSRS SSR4 SSR3 SSR2 SSR1
G536 SPSP
1st- G030 SOV7 SOV6 SOV5 SOV4 SOV3 SOV2 SOV1 SOV0
2nd- G376 SOV27 SOV26 SOV25 SOV24 SOV23 SOV22 SOV21 SOV20
3rd- G377 SOV37 SOV36 SOV35 SOV34 SOV33 SOV32 SOV31 SOV30
4th- G378 SOV47 SOV46 SOV45 SOV44 SOV43 SOV42 SOV41 SOV40
3rd- G036 R08I3 R07I3 R06I3 R05I3 R04I3 R03I3 R02I3 R01I3
4th- G272 R08I4 R07I4 R06I4 R05I4 R04I4 R03I4 R02I4 R01I4

3rd- G037 SIND3 SSIN3 SGN3 R12I3 R11I3 R10I3 R09I3
4th- G273 SIND4 SSIN4 SGN4 R12I4 R11I4 R10I4 R09I4
1st- G078 SH07A SH06A SH05A SH04A SH03A SH02A SH01A SH00A
1st- G079 SH11A SH10A SH09A SH08A
2nd- G080 SH07B SH06B SH05B SH04B SH03B SH02B SH01B SH00B
2nd- G081 SH11B SH10B SH09B SH08B
3rd- G208 SH07C SH06C SH05C SH04C SH03C SH02C SH01C SH00C
3rd- G209 SH11C SH10C SH09C SH08C
4th- G270 SH07D SH06D SH05D SH04D SH03D SH02D SH01D SH00D
4th- G271 SH11D SH10D SH09D SH08D
NOTE
- 744 -
(3) Series 15i

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


(4) Common to CNCs

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
3rd- G204 MRDYC ORCMC SFRC SRVC CTH1C CTH2C TLMHC TLMLC
4th- G266 MRDYD ORCMD SFRD SRVD CTH1D CTH2D TLMHD TLMLD
1st- G226 G071 G071 INTGA SOCNA *ESPA ARSTA

2nd- G234 G075 G075 INTGB SOCNB *ESPB ARSTB
3rd- G205 INTGC SOCNC *ESPC ARSTC
4th- G267 INTGD SOCND *ESPD ARSTD
1st- G229 G072 G072 INCMDA OVRA DEFMDA NRROA ROTAA INDXA
2nd- G237 G076 G076 INCMDB OVRB DEFMDB NRROB ROTAB INDXB
3rd- G206 INCMDC OVRC DEFMDC NRROC ROTAC INDXC
4th- G268 INCMDD OVRD DEFMDD NRROD ROTAD INDXD
1st- G228 G073 G073 EPFSTRA DSCNA SORSLA MPOFA

2nd- G236 G077 G077 EPFSTRB DSCNB SORSLB MPOFB
3rd- G207 EPFSTRC DSCNC SORSLC MPOFC
4th- G269 EPFSTRD DSCND SORSLD MPOFD

(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
GR3O GR2O GR1O
F034
(*1) (*1) (*1)
F037 R12O R11O R10O R09O
- 745 -
RGSPM RGSPP
F065
(*1) (*1)
F076 RTAP
NOTE
(2) Series 30i

#7 #6 #5 #4 #3 #2 #1 #0
Common to all axes F001 ENB
Common to all axes F002 CSS
GR3O GR2O GR1O
F034 SRSRDY SRSP1R SRSP2R SRSP3R SRSP4R
(*1) (*1) (*1)
F038 ENB3 ENB2 SUCLPA SCLPA
F035 SPAL
F039 ENB4 MSPOSA
F043 SYCAL4 SYCAL3 SYCAL2 SYCAL1
Common to all axes F044 SYCAL FSPPH FSPSY FSCSL
RGSPM RGSPP
Common to all axes F065 RSMAX
(*1) (*1)
Common to all axes F090 SVSPM SVAR SYSSM SYAR
Common to all axes F094 ZP8 ZP7 ZP6 ZP5 ZP4 ZP3 ZP2 ZP1
Common to all axes F264 SPWRN8 SPWRN7 SPWRN6 SPWRN5 SPWRN4 SPWRN3 SPWRN2 SPWRN1
Common to all axes F265 SPWRN9
F274 CSFO4 CSFO3 CSFO2 CSFO1 FCSS4 FCSS3 FCSS2 FCSS1
F288 FSPSY4 FSPSY3 FSPSY2 FSPSY1
F289 FSPPH4 FSPPH3 FSPPH2 FSPPH1
SSEGBM SSEGBM SSEGBM SSEGBM
F351
4 3 2 1
F376 SVSST8 SVSST7 SVSST6 SVSST5 SVSST4 SVSST3 SVSST2 SVSST1
F377 SVSAR8 SVSAR7 SVSAR6 SVSAR5 SVSAR4 SVSAR3 SVSAR2 SVSAR1
F400 SUCLPD SUCLPC SUCLPB
F401 SCLPD SCLPC SCLPB
F402 MSPOSD MSPOSC MSPOSB
F521 SVREV8 SVREV7 SVREV6 SVREV5 SVREV4 SVREV3 SVREV2 SVREV1
F522 SPP8 SPP7 SPP6 SPP5 SPP4 SPP3 SPP2 SPP1
1st- F036 R08O R07O R06O R05O R04O R03O R02O R01O
1st- F037 R12O R11O R10O R09O
2nd- F200 R08O2 R07O2 R06O2 R05O2 R04O2 R03O2 R02O2 R01O2
2nd- F201 R12O2 R11O2 R10O2 R09O2
3rd- F204 R08O3 R07O3 R06O3 R05O3 R04O3 R03O3 R02O3 R01O3
3rd- F205 R12O3 R11O3 R10O3 R09O3
4th- F270 R08O4 R07O4 R06O4 R05O4 R04O4 R03O4 R02O4 R01O4
4th- F271 R12O4 R11O4 R10O4 R09O4
- 746 -
1st- F045 TLMA LDT2A LDT1A

2nd- F049 TLMB LDT2B LDT1B
3rd- F168 TLMC LDT2C LDT1C
4th- F266 TLMC LDT2D LDT1D
1st- F048 CSPENA

2nd- F052 CSPENB
3rd- F171 CSPENC
4th- F269 CSPEND
NOTE
(3) Series 15i

#7 #6 #5 #4 #3 #2 #1 #0
F064 ZP1
F068 ZP2
: :
F067 MSCNTR1
F071 MSCNTR2
: :
- 747 -
#7 #6 #5 #4 #3 #2 #1 #0
1st- F341 SRRDYA

2nd- F342 SRRDYB
(4) Common to CNCs

15i 16i 30i #7 #6 #5 #4 #3 #2 #1 #0
3rd- F168 ORARC TLMC LDT2C LDT1C SARC SDTC SSTC ALMC
4th- F266 ORARD TLMD LDT2D LDT1D SARD SDTD SSTD ALMD

3rd- F170 EXOFC SORENC INCSTC PC1DTC
4th- F268 EXOFD SOREND INCSTD PC1DTD
1st- F230 F048 F048 EPFIXA CSPENA SSMBRKA

2nd- F246 F052 F052 EPFIXB CSPENB SSMBRKB
3rd- F171 EPFIXC CSPENC SSMBRKC
4th- F269 EPFIXD CSPEND SSMBRKD
- 748 -
B-65280EN/08 APPENDIX F.OBSERVING DATA USING THE SERVO GUIDE
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 FANUC SERVO GUIDE OPERATOR’S MANUAL
(B-65404EN) online help for detailed explanations about how to use the SERVO GUIDE.
F.1 SERIES AND EDITIONS OF APPLICABLE SPINDLE

SOFTWARE
9D50 series B (02) edition or later 9D90 series A (01) edition or later
9D53 series A (01) edition or later 9DA0 series A (01) edition or later
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
9D50 series 11 edition or later
ERR Position error *1
ERRC Position error (CNC)

SYNC Synchronous error *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) *1
SPCMD Speed command data from the CNC

SPSPD Spindle speed *1
SPCT1 Spindle control signal 1

SPCT2 Spindle control signal 2
SPCT3 Spindle control signal 3 *1
- 749 -
F.OBSERVING DATA USING THE SERVO GUIDE APPENDIX B-65280EN/08
Data type Description Description

SPST1 Spindle status signal 1
SPST2 Spindle status signal 2
SFLG1 Spindle flag 1 *1

SPPOS Spindle position data *2

LMDAT Load meter data *1
Spindle load torque (unexpected disturbance torque detection 9D50 series 11 edition or later
DTRQ *1
function)
Frequency of a disturbance torque command (disturbance input 9D50 series 11 edition or later
FREQ *1
function)
GAIN Gain (disturbance input function) *1

MTTMP Motor winding temperature *1
Feedback differential data on the motor side (for amplitude 9D50 series 11 edition or later
MFBDF *1
ratio/phase difference compensation adjustment)
Feedback differential data on the spindle side (for amplitude 9D50 series 11 edition or later
SFBDF *1
ratio/phase difference compensation adjustment)
PA1 A/D value of motor sensor phase A *1

PB1 A/D value of motor sensor phase B *1

PA2 A/D value of spindle sensor phase A *1

PB2 A/D value of spindle sensor phase B *1

VDC DC link voltage *1
Semi-closed loop/closed loop difference 9D50 series 11 edition or later

SFERR *1
(Dual position feedback function)
Positional deviation on the semi-closed loop side 9D50 series 11 edition or later
SMERR *1
(Dual position feedback function)
SPACC Spindle acceleration data *4
NOTE
1 Valid with 9D53 series 03 edition or later, valid with 9D70 series 02 edition or later,
valid with 9D80 series 01 edition or later, valid with 9D90 series 01 edition or later,
and valid with 9DA0 series 01 edition or later
valid with 9D80 series 01 edition or later, valid with 9D90 series 01 edition or later,
and valid with 9DA0 series 01 edition or later
3 To observe data marked with *1 and *2, Servo Guide Ver. 3.0 or later is needed.
valid with 9D90 series 01 edition or later, and valid with 9DA0 series 01 edition or
later. To observe data, Servo Guide Ver. 4.10 or later is needed.
- 750 -
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, “I/O SIGNALS (CNC↔PMC)”, in each part 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 SLV
#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
- 751 -
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

DRAW2: ORSEQ (Orientation sequence)
- 752 -
(3) Spindle speeds and synchronous error in spindle synchronous control
SPSPD (S1)
SPSPD (S2)
SYNC
DRAW1, 2: SPSPD (Spindle speed S1 and S2)

DRAW3: SYNC (Synchronous error)
(4) Motor speed and estimated load torque data
DRAW1 : SPEED
DRAW2 : DTRQ

DRAW2: DTRQ (Estimated load torque)
- 753 -
(5) Phase A/B feedback signal of αiBZ sensor
PA2
PB2
DRAW1: PA2 (Phase A signal of a separate αiBZ sensor)

DRAW2: PB2 (Phase B signal of a separate αiBZ sensor)
(6) Spindle position data and one-rotation signal
SPPOS
SFLG1#0
DRAW1, 2: SPPOS (Spindle position data)

DRAW3: SFLG#0 (FGRD: One-rotation signal detection flag)
- 754 -
(7) Adjustment of amplitude ratio/phase difference compensation data

(a) Before adjustment (No.4357=0, No.4358=0)
SFBDF
(b) After adjustment (No.4357=-2, No.4358=-2)
SFBDF
DRAW1: SFBDF (Spindle feedback difference data)
- 755 -
(8) Measurement of frequency characteristics using the disturbance input function

(a) XTYT display
GAIN
FREQ
(b) X-Y display
GAIN (%)
FREQ (Hz)
DRAW1: FREQ (Frequency in the disturbance torque command)

DRAW2: GAIN (Gain)
- 756 -
(9) Observation of spindle status signals
SST
SDT
SAR
SPEED

DRAW2: SPST1#1 (SST: Speed zero detection signal)
DRAW3: SPST1#2 (SDT: Speed detection signal)
DRAW4: SPST1#3 (SAR: Speed arrival signal)
- 757 -
G.PARAMETER SPECIFICATION DIFFERENCES BETWEEN THE (i SERIES AND (Ci SERIES APPENDIX B-65280EN/08
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.
G.1 PARAMETERS WITH DIFFERENT MEANINGS

Contents
15i 16i 30i
αi series αCi series
Spindle rotation direction when a positive (+) move
3000#1 4000#1 4000#1 Unused (Set to 0.)
command is specified on Cs contouring control
3000#3 4000#3 4000#3 Unused (Set to 0.)
3002#4 4002#4 4002#4 SM pin output data selection
(SFR/SRV) function on Cs contouring control
Whether to use the CMR (servo mode Cs
3002#7 4002#7 4002#7 Unused (Set to 0.)
contouring) 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.)
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.)
3011#0 4011#0 4011#0 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.)
Setting of a PWM carrier 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
3014#3 4014#3 4014#3 for high-speed characteristics/low-speed Unused (Set to 0.)
Whether to use the orientation function on spindle
3014#6 4014#6 4014#6 Unused (Set to 0.)
synchronous control
Setting related to control characteristics on Cs
3016#4 4016#4 4016#4 Unused (Set to 0.)
Whether to detect the alarms (SPM alarms 82, 83,
3016#5 4016#5 4016#5 85, 86) related to position feedback (in Cs Unused (Set to 0.)
Whether to use the velocity command
3018#5 4018#5 4018#5 compensation function during high-speed Unused (Set to 0.)
orientation
3018#6 4018#6 4018#6 High-speed orientation function Unused (Set to 0.)
3019#4 4019#4 4019#4 Unused (Set to 0.)
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.)
- 758 -
B-65280EN/08 APPENDIX G.PARAMETER SPECIFICATION DIFFERENCES BETWEEN THE (i SERIES AND (Ci SERIES
Contents
15i 16i 30i
αi series αCi series
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 Unused (Set to 0.)
control (High)
3047 4047 4047 Unused (Set to 0.)
control (Low)
3054 4054 4054 Unused (Set to 0.)
(High)
3055 4055 4055 Unused (Set to 0.)
(Low)
Rate of change in position gain upon completion of
3064 4064 4064 orientation / Acceleration limitation ratio at Acceleration limitation ratio at deceleration time
deceleration time
3069 4069 4069 Position gain on Cs contouring control (High) Acceleration/deceleration constant (High)
3070 4070 4070 Acceleration/deceleration constant (Medium High)
High)
3071 4071 4071 Acceleration/deceleration constant (Medium Low)
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
Gear ratio parameter setting error alarm (SPM
3086 4086 4086 Motor voltage on Cs contouring control
alarm 35) detection level
3087 4087 4087 Overspeed level Unused (Set to 0.)
3092 4092 4092 Unused (Set to 0.)
3093 4093 4093 Value displayed on load meter at maximum output Unused (Set to 0.)
Disturbance torque compensation constant
3094 4094 4094 Unused (Set to 0.)
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
Velocity at which the current loop integral gain is
3108 4108 4108 Q-axis current deviation limitation coefficient
zero
Slip compensation coefficient for a high-speed
3114 4114 4114 Unused (Set to 0.)
zone/slip compensation coefficient at deceleration
Dead-band rectangular wave component zero
3120 4120 4120 Dead-band compensation data
voltage/dead-band data
3129 4129 4129 Secondary current coefficient for rigid tapping Unused (Set to 0.)
3131 4131 4131 Dead-band compensation hysteresis
contouring control)
Grid shift during Cs contouring control mode l
3135 4135 4135 Unused (Set to 0.)
(2-word)
3320 4320 4320 Motor acceleration at deceleration time (High) Acceleration at orientation deceleration time (High)
Motor acceleration at deceleration time (Medium Acceleration at orientation deceleration time
3321 4321 4321
High) (Medium High)
Motor acceleration at deceleration time (Medium Acceleration at orientation deceleration time
3322 4322 4322
Low) (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.
- 759 -
H.PARAMETER SPECIFICATION DIFFERENCES BETWEEN THE (i SERIES AND BiS SERIES APPENDIX B-65280EN/08
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.
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.)
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)
3024 4024 4024 Zero speed detection level (SST) (*1) Zero speed detection level (SST)
Regenerative power limit for high-speed
3080 4080 4080 Regenerative 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.)
- 760 -
B-65280EN/08 APPENDIX H.PARAMETER SPECIFICATION DIFFERENCES BETWEEN THE (i SERIES AND BiS SERIES
Contents
15i 16i 30i
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
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 high-speed zone/acceleration-time motor voltage Unused (Set to 0.)
coefficient
Deceleration-time excitation current change time
3119 4119 4119 Interference voltage compensation
Compensation coefficient between the specification and
3128 4128 4128 Unused (Set to 0.)
true base/maximum torque curve compensation coefficient
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.)
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.)
3149 4149 4149 Slip constant Unused (Set to 0.)
3150 4150 4150 Unused (Set to 0.)
3151 4151 4151 PWM command clamp value at deceleration Unused (Set to 0.)
3152 4152 4152 Motor leakage constant Unused (Set to 0.)
3153 4153 4153 Unused (Set to 0.)
high-speed zone/regular-time motor voltage coefficient
coefficient
3157 4157 4157 Unused (Set to 0.)
constant)
3158 4158 4158 Unused (Set to 0.)
3161 4161 4161 Unused (Set to 0.)
3163 4163 4163 Unused (Set to 0.)
contouring control mode (Low)
3165 4165 4165 Unused (Set to 0.)
3166 4166 4166 Unused (Set to 0.)
3168 4168 4168 Current overload alarm detection level Unused (Set to 0.)
- 761 -
Contents
15i 16i 30i
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.)
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#4 4179#4 4179#4 Teeth number setting of spindle sensor 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.)
81, 82, 83, 85, 86, and 87) related to the position
3183#6 4183#6 4183#6 Unused (Set to 0.)
feedback 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 spindle alarm 24
3185#2 4185#2 4185#2 Unused (Set to 0.)
(serial data transfer error) is issued
Whether to output the load detection signals (LDT1,
3185#4 4185#4 4185#4 Unused (Set to 0.)
LDT2) during acceleration/deceleration
3185#6 4185#6 4185#6 Analog override type Unused (Set to 0.)
3187#3 4187#3 4187#3 Number of motor poles Unused (Set to 0.)
Setting of maximum output during
3187#4 4187#4 4187#4 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.)
3189#2 4189#2 4189#2 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.)
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 (spindle alarms 46) related to
3192#6 4192#6 4192#6 Unused (Set to 0.)
feedback of the position detection signal for threading
- 762 -
Contents
15i 16i 30i
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
Whether to use the velocity command compensation
3194#5 4194#5 4194#5 Unused (Set to 0.)
function 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.)
3206 4206 4206 Unused (Set to 0.)
(High)
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.)
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
3214 4214 4214 Unused (Set to 0.)
High 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
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.)
3227 4227 4227 orientation 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.)
3231 4231 4231 Unused (Set to 0.)
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.)
- 763 -
Contents
15i 16i 30i
3237 4237 4237 Motor voltage on orientation Unused (Set to 0.)
3238 4238 4238 Motor voltage on servo mode Unused (Set to 0.)
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)
3244 4244 4244 Unused (Set to 0.)
and spindle (High)
Denominator of arbitrary gear ratio between motor sensor
3245 4245 4245 Unused (Set to 0.)
and spindle (Low)
3246 4246 4246 Unused (Set to 0.)
and spindle (Low)
3263 4263 4263 Unused (Set to 0.)
voltage command
3266 4266 4266 Unused (Set to 0.)
3268 4268 4268 Unused (Set to 0.)
3271 4271 4271 Unused (Set to 0.)
coefficient
3273 4273 4273 Unused (Set to 0.)
constant)
3275 4275 4275 Unused (Set to 0.)
3277 4277 4277 Unused (Set to 0.)
3278 4278 4278 Time constant for velocity detecting filter Unused (Set to 0.)
3280 4280 4280 Unused (Set to 0.)
3281 4281 4281 Spindle load monitor torque constant Unused (Set to 0.)
3285 4285 4285 Motor voltage on servo mode Unused (Set to 0.)
- 764 -
Contents
15i 16i 30i
3293 4293 4293 Unused (Set to 0.)
voltage command
3296 4296 4296 Unused (Set to 0.)
3298 4298 4298 Unused (Set to 0.)
3301 4301 4301 Unused (Set to 0.)
coefficient
3303 4303 4303 Unused (Set to 0.)
constant)
3304 4304 4304 Unused (Set to 0.)
3306 4306 4306 Unused (Set to 0.)
3307 4307 4307 Unused (Set to 0.)
3308 4308 4308 Unused (Set to 0.)
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.)
Acceleration limitation start speed at deceleration time
3327 4327 4327 Unused (Set to 0.)
(High)
Command multiplication for spindle orientation by position
3329 4329 4329 Unused (Set to 0.)
coder
Acceleration limitation start speed at deceleration time
3331 4331 4331 Unused (Set to 0.)
(Low)
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.)
3349 4349 4349 Temperature monitoring time constant Unused (Set to 0.)
Velocity feedback signal setting in torque tandem
3353#1 4353#1 4353#1 Unused (Set to 0.)
operation
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.)
3373#1 4373#1 4373#1 Setting of the peak hold function for load meter output Unused (Set to 0.)
3398#2 4398#2 4398#2 Unused (Set to 0.) Magnetic pole detection mode selection 1
3398#3 4398#3 4398#3 Whether to use the twin drive function Unused (Set to 0.)
Whether to detect a speed polarity error (spindle alarm
3398#6 4398#6 4398#6 Unused (Set to 0.)
d0) in torque tandem operation
Neglect “Pole position count miss alarm (spindle
3399#5 4399#5 4399#5 Unused (Set to 0.)
alarm 91)”
- 765 -
Contents
15i 16i 30i
3399#6 4399#6 4399#6 Unused (Set to 0.) Magnetic pole detection mode selection 2
Unexpected rotation detection level (spindle alarm
3463 4463 4463 Unused (Set to 0.)
90)
Setting of the detection lower limit of the one-rotation
3467#2 4467#2 4467#2 Unused (Set to 0.)
signal
3467#3 4467#3 4467#3 Unused (Set to 0.)
function
3467#4 4467#4 4467#4 Unused (Set to 0.)
acceleration/deceleration (FAD)
Whether to detect the alarm related to spindle sensor
3467#5 4467#5 4467#5 Unused (Set to 0.)
polarity erroneous setting
Triggering of the disturbance input function (vibration
3468#6 4468#6 4468#6 Unused (Set to 0.)
3468#7 4468#7 4468#7 Unused (Set to 0.)
3481 4481 4481 Feed-forward timing adjustment coefficient 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
3523 4523 4523 Unused (Set to 0.)
alarm detection level [in servo mode]
- 766 -
B-65280EN/08 INDEX
INDEX
<α > <D>
αCi SERIES SPINDLE................................................740 Data List.......................................................................749
αCi SERIES SPINDLE PARAMETER TABLE .........679 DEFINITION OF WARNING, CAUTION, AND
αi SERIES SPINDLE ..................................................735 NOTE ........................................................................ s-1
αi SERIES SPINDLE PARAMETER TABLE............663 Description...................................................................313
αiIc SERIES SPINDLE PARAMETER TABLE.........690 Details of Input Signals.................... 194,440,520,611,655
Details of Output Signals ................. 206,441,522,616,657
<A> Details of Parameters ....................... 179,439,512,598,654
About the Spindle Speed Control and Spindle Status Details of Parameters for Detectors ... 10,418,459,531,645
Signals ......................................................................751 Details of Related Parameters ........ 32,61,91,123,161,245,
Adaptive Resonance Elimination Filter.................225,619 .....253,267,274,288,296,306,315,318,396,408,422,425,
Additional Information..........................................339,636 .....429,431,438,446,449,452,454,469,480,489,501,554,
Additional Information (Position Gain Adjustment) ...216, 561,565,576,585,622,624,627,629,634,639,648,649,650
............................................................. 442,525,618,660 Details of Specifications ..............................................248
Adjusting Cs Contouring Control..........................132,582 Diagnosis (Diagnosis Screen) ...... 6,110,140,172,189,293,
Adjusting the Orientation Stop Position Shift Parameter .....418,429,433,438,439,451,458,497,506,518,530,573,
................................... 78,278,425,449,483,562,624,649 ........................................ 582,591,608,628,644,651,654
ADJUSTMENT.................. 213,363,442,523,618,637,658 Diagnosis Signal Related to Spindle EGB ............ 310,634
Adjustment Procedure ....... 105,132,215,409,425,429,442, DIFFERENTIAL SPINDLE SPEED CONTROL. 312,634
............................................... 497,524,569,618,650,659 Disturbance Input Function................................... 222,619
Alarm ........ 7,111,140,172,418,429,433,438,458,497,507, DUAL POSITION FEEDBACK FUNCTION
............................................... 530,573,582,591,644,651 (OPTIONAL FUNCTION) ............................... 316,634
Alarm and Status Error............................ 338,376,535,636
Alarms...................................................................311,634 <E>
AMPLITUDE RATIO/PHASE DIFFERENCE Example of Adjustment......................................... 384,638
COMPENSATION FUNCTION.......................230,619 EXAMPLE OF OBSERVING DATA .........................752
AMR Offset Function...................................................540 Examples of Sequences....... 55,119,156,265,305,314,328,
Automatic Setting of the Parameter for Specifying the .....356,369,378,425,431,438,446,479,500,561,574,584,
PS Control Axis............................................................5 ...................................................... 622,633,635,636,649
Automatic Setting of the Parameter for Specifying the Explanation of Input Signals............ 192,440,520,610,655
PS Management Axis ...............................................530 Explanation of Operation ..... 57,152,425,437,499,561,584
Automatic Spindle Parameter Initialization 5,417,457,530 EXPLANATION OF OPERATION MODES .......27,422,
.................................................................... 464,552,647
 Explanation of Output Signals ......... 205,441,522,615,656
BiS SERIES SPINDLE ................................................743
BiS SERIES SPINDLE PARAMETER TABLE .........683 <F>
Block Diagram ...... 48,121,290,304,317,362,383,423,450, Feature ............................................... 47,423,477,560,648
...................................................... 560,628,632,637,638 FSSB High-speed Rigid Tapping...................................82
Block Diagram for the Speed Tandem Operation ........636 FUNCTION DESCRIPTIONS....................... 235,443,620
Block Diagram for the Velocity Tandem Operation ....338
<H>
<C> HIGH-SPEED SPINDLE ORIENTATION
Calculating the Orientation Time ...................279,449,624 (OPTIONAL FUNCTION) ........................ 388,452,638
Calculating the Position Gain for Orientation 278,449,624
Causes of Spindle Alarm 65.........................................550 
Caution.........................................................................535 I/O Signals (CNC↔PMC) ......... 52,153,191,239,249,263,
Cautions .................................................. 293,451,551,628 .....272,283,295,305,314,325,353,367,378,391,425,438,
Configuration ................................... 235,248,269,312,533 .....440,445,449,451,454,478,500,519,542,561,584,609,
CONVENTIONAL METHOD ORIENTATION ....................621,624,625,628,632,635,636,639,649,655
(OPTIONAL FUNCTION) ........................268,446,622 INCRMENTAL COMMAND TYPE SPINDLE
Cs CONTOURING CONTROL (OPTIONAL ORIENTATION (SPINDLE ROTATION SPEED
FUNCTION) ..............................................114,429,573 CONTROL) (OPTIONAL FUNCTION) ... 259,443,620
INPUT SIGNALS (PMC→CNC→SP)................. 191,609
INPUT SIGNALS (PMC→CNC→SPMC)..................519
INPUT SIGNALS (PMC→CNC→SVSP)...................440
i-1
INDEX B-65280EN/08
INPUT SIGNALS (PMC→CNC→βiSVSPc) ..............655 Parameter-specified Switching between High- and

Input Signals (PMC→CNC) ..........................735,740,743 Low-speed Characteristics .......................................246
POLE POSITION DETECTION .................................537
<L> Pole Position Detection Operation ...............................538
List of I/O Signals (CNC↔PMC) ....... 27,87,117,173,422, POSITION CODER METHOD SPINDLE
428,431,438,464,485,507,552,563,574,592,647,650,651 ORIENTATION (OPTIMUM ORIENTATION)
List of Input Signals ......................... 192,440,520,610,655 (OPTIONAL FUNCTION) ........................ 422,560,648
List of Output Signals ...................... 205,441,521,615,656 POSITION CODER METHOD SPINDLE
List of Parameters for Detectors........... 9,418,458,531,645 ORIENTATION (OPTIMUM
List of Related Parameters ....... 244,252,267,273,288,296, ORIENTATION)(OPTIONAL FUNCTION) ............45
.....305,315,318,395,407,446,449,452,454,622,624,626, POSITION CODER METHOD SPINDLE
....................................................................629,633,639 ORIENTATION (OPTIONAL FUNCTION)...........477
LIST OF SPINDLE ALARMS ....................................728 PREFACE .................................................................... p-1
LIST OF SPINDLE PARAMETER NUMBERS.........695
LIST OF SPINDLE STATE ERRORS ........................731 <R>
LISTS OF ALARMS/STATE ERRORS......................728 Related Parameters.... 31,59,89,121,159,422,425,429,431,
.....438,468,479,487,500,534,543,552,561,563,574,585,
<M> .................................................................... 648,649,650
MACHINE RESONANCE ELIMINATION ........216,618 Resonance Elimination Filter................................ 217,618
MAGNETIC FLUX BOOST FUNCTION ..................407 Restrictions ..................................................................249
MAGNETIC SENSOR METHOD SPINDLE RIGID TAPPING (OPTIONAL FUNCTION) ......82,426,
ORIENTATION (OPTIONAL FUNCTION)....377,637 .................................................................... 484,562,649
<N> <S>
Number of Error Pulses in Spindle Synchronous Control Sequence .........89,242,251,273,286,392,429,449,454,487,
............................................................. 171,438,506,591 ............................................... 549,563,624,626,639,650
Series and Edition of Applicable FSSB High-speed
<O> Rigid Tapping Software .............................................83
OBSERVING DATA USING THE SERVO GUIDE ..749 Series and Editions of Applicable Spindle Software...120,
Output Signals (CNC→PMC)........................737,741,745 .....235,247,259,268,281,290,295,300,312,317,323,352,
OUTPUT SIGNALS (SP→CNC→PMC) .............204,614 .....365,377,383,388,407,450,451,531,533,620,623,624,
OUTPUT SIGNALS (SPMC→CNC→PMC)..............521 ........................................ 627,628,630,635,636,638,749
OUTPUT SIGNALS (SVSP→CNC→PMC) ...............440 Specification ......................................................... 282,625
OUTPUT SIGNALS (βiSVSPc→CNC→PMC) ..........656 SPECIFICATIONS COMMON TO ALL OPERATION
Overview..... 27,46,82,114,132,142,173,213,235,247,259, MODES........................................ 173,438,507,592,651
.....268,281,290,295,299,312,316,322,351,364,377,383, Specifying a Shift Amount for Spindle Phase
.....388,407,422,426,429,433,438,442,443,446,450,451, Synchronous Control........................... 172,438,506,591
.....452,464,477,484,498,507,523,533,537,552,560,562, SPEED RANGE SWITCHING CONTROL
.....573,583,592,618,620,622,624,627,628,630,635,636, (OPTIONAL FUNCTION) ............................... 235,620
........................................ 637,638,647,648,649,651,658 SPEED TANDEM CONTROL FUNCTION
(OPTIONAL FUNCTION) ......................................635
 Spindle Alarm ..............................................................321
Parameter Setting Procedure ....... 98,255,429,492,569,650 SPINDLE BACKLASH ACCELERATION
PARAMETER SPECIFICATION DIFFERENCES FUNCTION (OPTIONAL FUNCTION) .......... 383,637
BETWEEN THE αi SERIES AND αCi SERIES ....758 SPINDLE DATA THAT CAN BE OBSERVED
PARAMETER SPECIFICATION DIFFERENCES USING THE SERVO GUIDE..................................749
BETWEEN THE αi SERIES AND BiS SERIES.....760 Spindle Data Used in Tuning ......................... 400,454,639
PARAMETER TABLE FOR EACH MOTOR MODEL SPINDLE EGB (SPINDLE ELECTRONIC GEAR
..................................................................................702 BOX) (OPTIONAL FUNCTION)..................... 299,630
Parameter Tuning Procedure ..........................297,452,629 SPINDLE FINE ACC./DEC. (FAD) FUNCTION......290,
Parameters.... 176,213,291,332,358,373,378,384,438,442, ........................................................................... 450,627
............ 450,510,523,595,618,628,636,637,638,652,658 SPINDLE MOTOR αCi series.....................................727
PARAMETERS RELATED TO DETECTORS ......9,418, SPINDLE MOTOR αiI series......................................703
....................................................................458,531,644 SPINDLE MOTOR αiI series (400V) .........................714
Parameters Related to Spindle Serial Output ....4,417,457, SPINDLE MOTOR αiIL series ...................................713
...........................................................................530,643 SPINDLE MOTOR αiIL series (400V) .......................720
PARAMETERS WITH DIFFERENT MEANINGS .......... SPINDLE MOTOR αiIp series ....................................708
...........................................................................758,760 SPINDLE MOTOR αiIP series (400V) .......................717
i-2
B-65280EN/08 INDEX
SPINDLE MOTOR αiIT series ...................................710 
SPINDLE MOTOR αiIT series (400V) .......................718 UNEXPECTED DISTURBANCE TORQUE
SPINDLE MOTOR βiI series ......................................721 DETECTION FUNCTION (OPTIONAL
SPINDLE MOTOR βiIc series.....................................726 FUNCTION) .............................................. 295,451,628
SPINDLE MOTOR βiIP series ....................................724 Using Speed Range Switching Control ........................236
SPINDLE ORIENTATION DURING SPINDLE
SYNCHRONIZATION CONTROL (OPTIONAL <V>
FUNCTION) ............................................................281 VELOCITY CONTROL MODE ....... 27,422,464,552,647
SPINDLE ORIENTATION DURING SPINDLE VELOCITY LOOP GAIN ADJUSTMENT.. 213,442,523,
SYNCHRONOUS CONTROL (OPTIONAL ........................................................................... 618,658
FUNCTION) ............................................................624 Velocity Loop Gains Override Function on Cs
Spindle Parameter Initialization ...................................644 Contouring Control Mode .......................... 120,431,574
SPINDLE PARAMETER TABLE...............................663 Velocity Tandem Control Function (OPTIONAL
Spindle Parameters for Rigid Tapping and Spindle FUNCTION) ............................................................322
Synchronous Control ................................................161
SPINDLE SERIAL INTERFACE (OPTIONAL
FUNCTION) .................................... 4,417,457,530,643
SPINDLE SWITCHING CONTROL ...................247,620
SPINDLE SYNCHRONOUS CONTROL (OPTIONAL
FUNCTION) ....................................... 142,433,498,582
Standard parameters of velocity loop gain for Cs
contouring control for each motor model .................135
START-UP........................................... 3,417,457,529,643
START-UP PROCEDURE ......... 3,27,45,82,114,142,417,
.....422,426,429,433,457,464,477,484,498,529,552,560,
........................................ 562,573,582,643,647,648,649
Status Errors...................................................293,451,628
Status Errors on Differential Spindle Speed Control....316
Status Errors Related to Spindle EGB...................311,634
Stop Position Specification Method ... 52,425,478,561,648
Stop Processing When a Sub Module SM Error Occurs534
SUB MODULE SM .....................................................533
Supplementary Descriptions ............................78,425,562
Supplementary Descriptions about Parameters ............255
System Configuration....... 27,48,83,115,143,260,300,324,
.....352,366,377,389,422,423,426,430,433,443,446,452,
.....464,478,484,499,552,560,562,573,583,620,623,631,
............................................... 635,636,638,647,648,650
<T>
TABLE OF I/O SIGNALS RELATED TO SPINDLE
CONTROL ...............................................................735
Tandem Disturbance Elimination Control (OPTIONAL
FUNCTION) ............................................................351
TANDEM RESONANCE ELIMINATION
(OPTIONAL FUNCTION) ......................................636
TCMD Filter .........................................................216,618
TORQUE TANDEM CONTROL FUNCTION
(OPTIONAL FUNCTION) ...............................364,637
Transition from Conventional Method Orientation to
Optimum Orientation....................................46,423,560
Troubleshooting ................................. 41,422,473,560,648
Tuning Procedure ............................... 70,401,454,562,640
Typical Detector Configurations........ 19,418,462,531,645
i-3
B-65280EN/08 REVISION RECORD
REVISION RECORD
Edition Date Contents
08 Jun., 2011 - Applied to Series 30i-B
- Addition of SPINDLE MOTOR βiIc series
- Addition of speed tandem control
- Addition of optimum orientation
07 Jul., 2008
- Addition of αiCZ sensor (serial)
- Change of the motor model name
06 Jul., 2006
- Addition of spindle backlash acceleration function
- Applied to Series 30i
05 Apr., 2005
- Addition of BUILT-IN 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
r-1
ADDITIONAL INFORMATION
Tuning way for FSSB High Speed Rigid Tap
1. Type of applied documents

Name FANUC AC SPINDLE MOTOR αi series,
FANUC BUILT-IN SPINDLE MOTOR Bi series
PARAMETER MANUAL
Spec. No./Ver. B-65280EN/08
2. Summary of Change
New, Add Applicable
Group Name / Outline
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Another
Addition of tuning way for FSSB high speed rigid tap Add 2011.04
TITLE
Tuning way for
FSSB High Speed Rigid Tap
DRAW. No. CUST.

01 11.04.22 Tajima Newly designed B-65280EN/08-01
SHEET
Ed. Date Design. FANUC CORPORATION 1/17
Tuning way for FSSB High Speed Rigid Tap
1. Outline
The connection between CNC and spindle amplifier is changed to FSSB in 30i-B series CNC. It
becomes possible to transfer the spindle position data to servo software directly by using FSSB
communication. In FSSB high speed rigid tap function, servo axis follows spindle axis in rigid tap by
this high speed communication.
As the servo axis always follows the spindle axis, the synchronous error will not become large even
if the torque command of spindle motor becomes a little bit saturated. Therefore it’s possible to use
the large torque near the limitation and to reduce cycle time with keeping the accuracy.
This document shows the tuning way for FSSB high speed rigid tap function.
30i-B α iSV α iSV α iSV α iSP

Servo
series
software
CNC
FSSB
Following spindle position Transferring spindle Spindle
position to servo axis position data
through FSSB
2. Tuning procedure of FSSB high speed rigid tap
2.1. Initial parameter settings
First of all, please set some parameters for rigid tap as before even in case of using FSSB high
speed rigid tap. And after that, please set some parameters for FSSB high speed rigid tap
additionally. (* mark in the following table)
Parameter number
Contents
(FS30i-B)
Feed-forward function bit (Servo) Initial setting : 1
2005#1 Note) The feed-forward coefficient for servo axis always becomes 100% regardless of parameter
setting of feed-forward coefficient, when FSSB high speed rigid tap is used.
Feed-forward function bit (Spindle) Initial setting : 0
Note) If you use feed-forward function in spindle axis, please use “Rigid tapping bell-shaped
5203#2
acc./dec.” function together. In case of FSSB high speed rigid tap, you don’t have to set same
feed-forward coefficient for spindle as the one for servo.
5241~5244 Maximum speed of spindle in rigid tap
5261~5264 Time constant for acc./dec. in rigid tap Initial setting : 500
4065~4068 Position gain for spindle in servo mode Initial setting : 3000
Proportional gain of velocity loop for spindle in servo mode Initial setting : see following formula
Proportional gain of velocity loop = 30159/Tmax*(Jm+Jl)

4044~4045 Assume that
Tmax : Short time rated torque at constant torque range * 1.2 [Nm]
2
Jm : Motor rotor inertia [kgm ]
2
Jl : Load inertia converted to motor side [kgm ]
Integral gain of velocity loop for spindle in servo mode Initial setting : see following formula
4052~4053
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Integral gain of velocity loop = 280735/Tmax*(Jm+Jl)
Assume that
Tmax : Short time rated torque at constant torque range * 1.2 [Nm]
2
Jm : Motor rotor inertia [kgm ]
2
Jl : Load inertia converted to motor side [kgm ]
Motor voltage in rigid tap (for high speed characteristics) Initial setting : 100
When the maximum motor speed in rigid tap is higher than the base speed of the spindle motor
(No. 4100 for high speed characteristics), set the value calculated from the following formula.
4085
Spindle motor base speed(No.4100)
Motor voltage (%) = 100 * Maximum motor speed in rigid tap
Motor voltage in rigid tap (for low speed characteristics) Initial setting : 100
When the maximum motor speed in rigid tap is higher than the base speed of the spindle motor
(No. 4138 for low speed characteristics), set the value calculated from the following formula.
4137
Spindle motor base speed(No.4138)
Motor voltage (%) = 100 * Maximum motor speed in rigid tap
Motor voltage control characteristic setting in rigid tap Initial setting : 0

4016#4
If you set less value than 100 in No.4085 or No.4137, please set 1.
Delay time for motor excitation Initial setting : 300
4099
However when you use Magnetic flux boost function, please change it. (Refer to chapter 4)
24203#0 (*NEW) FSSB high speed rigid tap function bit (CNC) Initial setting : 1
2429#1 (*NEW) FSSB high speed rigid tap function bit (Servo) Initial setting : 1
4549#1 (*NEW) FSSB high speed rigid tap function bit (Spindle) Initial setting : 1
24204 (*NEW) Spindle axis number which synchronizes with servo axis
2610 (*NEW) Position gain for servo axis during FSSB high speed rigid tap Initial setting : 3000
2.2. Tuning parameters
The parameters to tune are basically same as before. But the tuning way is different in the following
points when you use FSSB high speed rigid tap.
- It’s possible to set less value in time constant for acc./dec. generally.
- It’s not necessary to set the same value in position gain both for servo axis and spindle axis. The
new position gain parameter, which is effective only in FSSB high speed rigid tap, is prepared.
Parameter number Contents

（FS30i-B）
5261~5264 Time constant for acc./dec. in rigid tap
5280~5284 Position gain of servo axis for rigid tap (These parameters are used when No.2610=0.)
2610 (*NEW) Position gain for servo axis during FSSB high speed rigid tap
4065~4068 Position gain for spindle in servo mode
4044~4045 Proportional gain of velocity loop for spindle in servo mode
4052~4053 Integral gain of velocity loop for spindle in servo mode
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2.3. Tuning with using SERVO GUIDE
Please use SERVO GUIDE for parameter tuning with observing following data (Synchronous error,
Spindle speed, Torque command, and etc.)
Axis Data kind Data unit at observing

SYNC (Synchronous error) [pulse]
Servo axis
TCMD (Torque command) [%]
-1
SPSPD (Spindle speed) [min ]
Spindle axis TCMD (Torque command) [%]
ERRC (Position error) [pulse]
Note) Synchronous error is calculated by the following formula.

SYNC[ pulse] = PERsp[ pulse] − PERsv[ pulse]
SYNC[ pulse] : Synchronous error (4096 pulse per spindle 1 revolution)
PERsp[ pulse] : Position error of spindle
PERsv[ pulse] : Position error of servo converted to the weight of spindle
2.3.1. Setting of maximum spindle speed in rigid tap
Please set maximum spindle speed in rigid tap according to the specification of the machine. When
you use higher speed domain where the spindle motor output enough torque, you might be able to
reduce the cycle time of the machining.
[Example of the character of Spindle motor speed-Torque]

Torque Example (1)
This motor has wide torque constant range and
even at 6000min-1 enough torque can be used.
So this character is suited to high speed
machining. When you use high speed domain
in rigid tap, you will be able to reduce cycle
35Nm time.
32Nm@6000min-1
24Nm
4Nm
5500min-1 8000min-1 20000min-1
Motor speed
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Example (2)
This motor has narrow torque constant range
Torque -1
and at 6000min the torque is very small. So
this character is not suited to high speed
machining.
If you use this motor for high speed rigid tap,
the time constant is limited by the reason of
41Nm lack of torque at high speed. It also means that
the high torque at low speed will not be used
enough.
21Nm@6000min-1 However even in such motor, it’s possible to
make good use of torque in all speed range by
18Nm
using “Optimum acc./dec. for rigid tap”, which
is the option function. (Refer to chapter 3)
7.5Nm
3000min-17000min-1 12000min-1
Motor speed
2.3.2. Preparation before start tuning
(1) Initial parameter setting

Please set some parameters for rigid tap from Parameter Window in SERVO GUIDE. Please open
Parameter Window in “Online” and select “SP” in radio button and select “Rigid tapping” in Group.
“Rigid tapping” group has 4 types of tabs “Command Setting”, “Velocity Control”, and “Position
Control”. Please input the initial parameters in each tab. When you change parameters, please
make sure to release the “Lock” check-box.
Please try to input 500-600ms in time constant for acc./dec. in rigid tap as initial value. (It depends
on the maximum spindle speed, though.)
Regarding position gain of servo axis for FSSB high speed rigid tap, please set them in No.2610
after selecting “Parameter Table” in Group.
“Command Setting” “Velocity Control”
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“Position Control” “Parameter Table”
(2) Making test program

You can make the test program by Program Window in SERVO GUIDE. Please select “Rigid tap”
in program mode combo-box and set some conditions. After finishing the settings and click “Apply”
button, SERVO GUIDE will make the test program.
“Send” button
After confirming the program, please input the file name by click “File name” button. And send it to
CNC by click “Send sub” and “Send main” button in order.
(3) Channel settings for Graph Window

Please open Graph Window and make the channel settings to measure data. The trigger condition
should be the “N number” which was specified in Program Window.
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(4) Confirmation of movement in test program
Before starting data measurement, please click “Origin” button in Graph Window. After click
“Measure” button, Graph Window will be the trigger waiting state. Please press cycle start button in
the operation panel on the machine. The test program, which was sent before, will be executed
and the data will be measured.
Example of measurement result in rigid tap with initial parameter settings (Time constant = 500ms)
-1
Spindle speed （2000min /div）
Synchronous error （50pulse/div）
Spindle torque command （50%/div）
300ms
As nest step, please reduce the time constant for acc./dec. up to becoming 50% or so in spindle
torque command. Based on this setting, please continue the velocity gain tuning and position gain
tuning.
Example of measurement result in rigid tap after first tuning of time constant for acc./dec.
(Time constant = 300ms)
Reduce time constant up to becoming

50% or so in torque command
300ms
In this stage, please make sure that the spindle speed reaches the maximum speed for rigid tap. If
it doesn’t, please change the movement distance of Z axis in test program.
After that, to confirm whether spindle movement is proper or not, please check the position error at
maximum rigid tap speed. The ideal position error can be calculated by following formula.
Nr[min −1 ] 1 RFF [%]

Perr[ pulse] = × 4096[ pulse / rev] × −1
× (1 − )
60 PG[sec ] 100
Perr[ pulse] : Position error at speed Nr
Nr[min −1 ] : Maximum speed for rigid tap
PG[sec −1 ] : Position gain for rigid tap
RFF [%] : Feed-forward coefficient (in case of No.5203#2=1)
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Ex.) The position error with initial setting in this document becomes
6000 1 0
Perr[ pulse] = × 4096 × × (1 − ) = 13653[ pulse]
60 30 100
Example of measurement result in rigid tap to confirm the position error

(Ideal position error = 13653[pulse])
-1
-1
6000min Synchronous error （50pulse/div）
Position error （100pulse/div）
13653pulse
300ms
2.3.3. Velocity gain tuning
Please tune velocity loop gain. Please try to raise the proportional gain and integral gain in “Velocity
Control” tab in Parameter Window with the same proportion. The limit value can be known from the
torque command waveform, vibration, or motor sound. The final setting value should be the 70% of
the limit value.
Example of measurement result after tuning of velocity gain

(Proportional gain = 25, Integral gain = 238)
-1
300ms
Limit value Enlargement

(Proportional gain = 35, Integral gain = 333)
Set 70% of limit value
50ms
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2.3.4. Position gain tuning
Please tune position loop gain. Please try to raise the position loop gain 2000 by 2000 in “Position
Control” tab in Parameter Window. The limit value can be known from the torque command
waveform, vibration, or motor sound. Please determine the final setting value from those factors.
Example of measurement result after tuning of spindle position gain (Spindle position gain = 7000)
-1
300ms
Enlargement
Initial setting (Position gain=3000) (Position gain=7000) Limit value (Position gain=12000)
Too much gain

Vibration became large.
50ms
As next step, we’ll proceed to position gain of servo axis for FSSB high speed rigid tap. But before it,
please tune the velocity loop gain of servo axis well in the ordinary servo tuning.
In former rigid tap, the synchronization between servo axis and spindle axis is realized by giving
same position command to both axes. Therefore position gains for both servo axis and spindle axis
should be same value. But in FSSB high speed rigid tap, the synchronization is realized by the way
that servo axis follows spindle axis movement. So the position gains for both axes can be set
independently.
The position gains for servo axis for former rigid tap are prepared in No.5280-5284. These
parameters can be used also for FSSB high speed rigid tap. But new parameter No.2610, which is
effective only for FSSB high speed rigid tap, is prepared.
As this parameter has not been included yet in “Rigid Tapping” group in Parameter Window of
SERVO GUIDE, please change it in “Parameter Table”. The tuning way is same as the one for
spindle axis.
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Example of measurement result after tuning of servo position gain (Position gain = 10000)
-1
Servo torque command （5%/div）

300ms
Enlargement
Initial setting (Position gain=3000) (Position gain=10000) Limit value (Position gain=14000)
Too much gain

Vibration became large.
50ms
2.3.5. Tuning of time constant for acc./dec.
In former rigid tap, we’ve tuned the time constant for acc./dec. so that the peak torque command of
spindle axis becomes 80% or so of maximum value. As the servo axis follows the spindle axis In
FSSB high speed rigid tap, it’s possible to use the spindle torque up to the maximum level. And there
is a possibility to be able to reduce time constant for acc./dec. at using FSSB high speed rigid tap.
Please tune the time constant for acc./dec. so that the peak torque command of spindle axis
becomes nearly 100%. However if you reduce it up to the situation that the torque command in
deceleration becomes too much saturated, the spindle motor might make a overshoot in the bottom
of the hole. Please tune it so that the overshoot doesn’t occur in the bottom of the hole.
Note) Assuming high speed and light load cutting, as the load torque of cutting is not so large, the
time constant, which is determined in air-cut, can be used without any change. Considering low
speed and heavy load cutting, the necessary torque for acc./dec. becomes small, because the
speed is low. So the torque will be sufficient generally even in the heavy load cutting. Therefore the
time constant, which is determined in air-cut at high speed, is usable in low speed and heavy load
cutting also.
Please confirm the actual torque command in actual cutting as the final test.
Example of measurement result in rigid tap after second tuning of time constant for acc./dec.
-1
A little saturation in spindle
torque command in acceleration
can be acceptable. Spindle torque command （50%/div）
300ms
The spindle torque command in

deceleration should not be saturated.
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Example of measurement result in rigid tap with using too short constant for acc./dec.
-1
Enlargement Bottom
300ms
of hole
When the torque command is saturated

in deceleration, the overshoot occurs in
the bottom of the hole.
2.3.6. Confirmation of synchronous error
Basically that’s all for the tuning for FSSB high speed rigid tap. After finishing the tuning of time
constant for acc./dec., please check the synchronous error between servo axis and spindle axis.
Please make sure that the synchronous error is less than 100 or so.
2.4. Tuning of former type rigid tap (for reference)
The tuning way of former type rigid tap is shown as follows for your reference.
2.4.1. Initial settings and gain tuning of velocity loop and position loop
The initial settings for former rigid tap are same as the ones for FSSB high speed rigid tap.
And the tuning ways of velocity loop gain and position loop gain are almost same. There is only one
difference in position gain setting. The position gains both for servo and spindle should be just same.
2.4.2. Tuning of time constant for acc./dec.
In the former type rigid tap, if the torque command is saturated, the synchronous error will be larger.
So in this case, please tune the time constant for acc./dec. so that the peak value of spindle torque
command becomes 80% of maximum torque, which includes a margin.
Example 1 of measurement result in former type rigid tap (Time constant = 220ms)
-1
The peak value of spindle torque

command should be 80%.
300ms
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Example 2 of measurement result in former type rigid tap (Time constant = 175ms)
-1
If the spindle torque command
is saturated, the synchronous
error will be worse.
300ms
Ref.) Example of measurement result in FSSB high speed rigid tap (Time constant = 175ms)
-1
The synchronous error doesn’t Spindle speed （2000min /div）
become worse even if the spindle Synchronous error （50pulse/div）
torque command is saturated in case Spindle torque command （50%/div）
of FSSB high speed rigid tap.
300ms
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3. Using “Optimum Acc./Dec. for Rigid Tap” together
“Optimum acc./dec. for rigid tap” is the function that enables to change the acceleration in rigid tap
according to the character of the spindle motor. By using this function together, the motor torque is
derived at maximum in all speed range and it becomes possible to reduce the time for acc./dec.
Note) “Optimum acc./dec. for rigid tap” is an option function.
(Example) Assuming that we use the spindle motor, which has following character, at 8000min-1 for
rigid tap,
Torque
35Nm
12Nm
5.0Nm@8000min-1 3.5Nm
1500min-1 4500min-1 10000min-1
Speed
-1
This motor has small torque at 8000min . When the acceleration is constant value in all speed, the
torque in low speed area is not utilized enough, because the tolerable acceleration is limited by the
torque in high speed area.
Example of measurement result without Optimum acc./dec. for rigid tap

-1
Torque command is saturated Spindle speed （2000min /div）
in high speed area. Synchronous error （50pulse/div）
Torque in low speed area

is not utilized enough.
600ms
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Please use “Acc./Dec performance measurement” for spindle tuning in SERVO GUIDE to determine
the initial settings for Optimum acc./dec. for rigid tap.
Please open Graph Window and select [Tool] -> [Spindle Tuning] -> [Acc./Dec performance
measurement]. The following window will be shown after getting spindle information.
Click [Spindle condition check] and confirm whether spindle conditions are proper or not.
Go back to the measurement window and after setting S command and upper limit of motor speed,
click “Start”. Please set higher value than the maximum rigid tap speed in S command box, if you
can.
-1
[min /sec]
We regard this level as
100%. Based on this
Acceleration during dec. level, please calculate
the acceleration value
Acceleration during acc. in each point.
Draw approximate
line for acceleration
character curve
-1
[min ]
P0 P1 P2 P3 P4
Please estimate the initial setting values from the measurement result. Please draw
approximate line through each setting point (P0-P4) to determine the acceleration character
during acc./dec.. The above data shows the character in acc./dec. with maximum torque. So
available torque in rigid tap will be less than this character. Please set the initial value for
Optimum acc./dec. for rigid tap as 70% or so of approximate line.
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(Setting example from the figure in former page)
The maximum acceleration can be seen at 0-1500min-1 in deceleration. It’s value is

37800(0 ~ 1500 min −1 )[min −1/ sec] ÷ 60[sec] × 0.7 = 441[rev / sec 2 ]
The rest of acceleration settings should be set as the proportion of this value.
Initial settings for Optimum acc./dec. for rigid tap

Maximum Maximum Acc. Spindle speed Acc. setting (Ration to max. acc. [%])
Gear acceleration spindle speed setting (Ratio to max. Forward / Reverse
2 -1
[rev/sec ] [min ] point speed [%]) During acc. During dec.
P0 None （0%） No.11441=73 No.11461=100
P1 No.11429=19 No.11442=73 No.11462=100
Gear
No.11421=441 No.5241=8000 P2 No.11430=38 No.11443=46 No.11463=46
1
P3 No.11431=60 No.11444=36 No.11464=36
P4 None （100%） No.11445=20 No.11465=40
500
450
Acceleration（rev/sec^2）
: Acceleration during dec.

400 : Acceleration during acc.
350
300
250 P0 P1
200
150 P2
100 P3
50 P4
0
0 1000 2000 3000 4000 5000 6000 7000 8000
Spindle speed（min^-1）
Example of measurement result after initial setting of Optimum acc./dec. for rigid tap
-1
600ms
We can tune the acceleration settings a little more,
because there is a room to 100% in torque command.
After confirming the measurement result with initial setting, please tune the acceleration parameters
so that the spindle torque command reaches near 100% in all speed area.
When you tune them, please use the test program, which has the maximum rigid tap speed, and start
tuning from the high speed point (P4) first, and continue to the low speed points in order.
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After tuning settings for Optimum acc./dec. for rigid tap
Maximum Maximum Acc. Spindle speed Acc. setting (Ration to max. acc. [%])
Gear acceleration spindle speed setting (Ratio to max. Forward / Reverse
2 -1
[rev/sec ] [min ] point speed [%]) No.11441=73 No.11461=100
P0 None （0%） No.11442=73 No.11462=100
P1 No.11429=19 No.11443=52 No.11463=60
Gear
No.11421=441 No.5241=8000 P2 No.11430=38 No.11444=47 No.11464=55
1
P3 No.11431=60 No.11445=20 No.11465=40
P4 None （100%） No.11441=73 No.11461=100
500
450
Acceleration（rev/sec^2）
: Acceleration during dec.
400 : Acceleration during acc.
350
300
250 P0 P1
200 P2
150 P3
100
50 P4
0
0 1000 2000 3000 4000 5000 6000 7000 8000
Spindle speed（min^-1）
Example of measurement result after tuning of Optimum acc./dec. for rigid tap
-1
600ms
The motor torque is well utilized
in all speed area.
In the above example, the acceleration time and deceleration time are reduced as follows by
applying Optimum acc./dec. for rigid tap.
Function OFF Function ON

Acceleration time : 976ms -> 720ms
Deceleration time : 976ms -> 588ms
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4. Using “Magnetic Flux Boost Function” together
Asynchronous spindle motors need some time to raise the magnetic flux at the excitation increasing.
Therefore we recommend generally to set some waiting time at the changing from velocity control
mode to servo mode including rigid tap. (No.4099: Delay time for stable motor excitation)
To reduce the waiting time, we are providing the function that gives large excitation current in an
instance at the changing from velocity control mode to servo mode. It helps to quicken the increasing
of magnetic flux. And as this function judges the status of preparation of magnetic flux, the rigid tap
will start faster without waiting time set in No.4099.
There is a possibility to reduce the cycle time by using this function together.
Parameter settings for Flux boost function

Parameter number （FS30i-B） Contents
4353#6 Magnetic flux boost function bit Setting value : 1
4124(for high speed winding, or
Magnetic flux boost setting level / Magnetic flux boost coefficient
without speed range switching)
Setting value : See below
4155(for low speed winding)
Delay time for stable motor excitation (ms) Setting value : 300
4099 Note) Even when you use magnetic flux boost function, please set something
value (300 or so) in this parameter.
Spindle parameter manual (B-65280/08 edition or subsequent editions) shows the setting value for
No.4124 and 4155. Please set them according to the description. If you can’t find the description for
your motors, please calculate it according to the following formulas.
{
No.4124 = 24320 + Minimum _ value _ between( ( No.4111 / 100) 2 + 1 × 0.9 ×100) _ and _ 255 }
No.4155 = 24320 + {Minimum _ value _ between( ( No.4147 / 100) 2 + 1 × 0.9 × 100) _ and _ 255 }
Note) If you don’t use Speed range switching function, it’s not necessary to set No.4155.
Example of measurement result without Magnetic flux boost function

-1
RTAP signal（Fn076.3） Spindle speed （2000min /div）
Rigid tap ON at 0->1
RGSPM signal （Fn065.1）
Rigid tap start at 0->1
Tap start
Example of measurement result with Magnetic flux boost function
Tap start
50ms
In the above example, the start timing of rigid tap became 50ms faster, and the total cycle time also reduced 50ms.
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Revision of αi series Spindle Software
(9D90/H(08), 9DA0/K(11))

PARAMETER MANUAL
New, Add Applicable
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Another
Revision of spindle software 9D90/H(08), 9DA0/K(11) Add 2011.06
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(9D90/H(08),9DA0/K(11)
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SHEET
(9D90/H(08),9DA0/K(11))
1. General
αi series spindle software was revised as follows.
2. Software series, edition and applied spindle amplifier
Software
Spindle amplifier specification Notes
edition
30i/31i/32i-A，
9D90 A06B-6144-Hxxx#H590 16i/18i/21i-B，
αiSP
edition H(08) A06B-6154-Hxxx#H590 0i -B/C, 0i -D,15i-MB,PMi-D
Induction/ synchronous spindle motor
9DA0 αiSP A06B-6220-Hxxx#H600 30 i//31 i//32 i/-B, 35 i/-B

edition K(11) A06B-6270-Hxxx#H600 Induction/ synchronous spindle motor
αiSVP A06B-6230-Hxxx#H600
3. Contents of modification
Contents 9D90/H 9DA0/K

It has become possible to connect spindle amplifier for FS30i-B to
FS0i-D controller.
(1)
Note) It’s necessary to update system software to use this feature. It will
-
be delivered from August.
The number of the measurable spindle channel per one spindle axis has
been expanded from “2” to “4”.
(2)
Note) It’s necessary to update system software and SERVO GUIDE to
-
use this feature. It will be delivered from September.
(3) It has become possible to drive αiI150/5000HV with FS0i-D.
: Revised item - : Not supported
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(9D5A/L, 9D53/Y, 9D7A/A, 9D80/X)

Name FANUC AC SPINDLE MOTOR α+ series,
FANUC AC SPINDLE MOTOR β+ series,
FANUC BUILT-IN SPINDLE MOTOR B+ series
PARAMETER MANUAL
New, Add Applicable
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Revision of spindle software 9D5A/L

Another Revision of spindle software 9D53/Y
Add 2011.06
Revision of spindle software 9D7A/A
Revision of spindle software 9D80/X
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01 11.06.22 Tsutsumi Newly designed B-65280EN/08-03
SHEET
(9D5A/L, 9D53/Y, 9D7A/A, 9D80/X)
1. General
Software Spindle amplifier specification

Notes
edition
A06B-6111-Hxxx#H550
16i/18i/21i-B,
A06B-6112-Hxxx#H550
αiSP 0i-B/C, 15i-MB, PMi-D
9D5A A06B-6121-Hxxx#H550
Induction spindle motor
edition L(12) A06B-6122-Hxxx#H550
A06B-6134-Hxxx#A 0i-B/C
βiSVSP A06B-6134-Hxxx#D Induction spindle motor
A06B-6111-Hxxx#H553
16i/18i/21i-B,
9D53 A06B-6112-Hxxx#H553
edition Y(25) A06B-6121-Hxxx#H553
Synchronous spindle motor
A06B-6122-Hxxx#H553
A06B-6111-Hxxx#H570
9D7A *) A06B-6112-Hxxx#H570 30i/31i/32i-A,
αiSP
edition A(01) A06B-6121-Hxxx#H570 Induction/ synchronous spindle motor
A06B-6122-Hxxx#H570
A06B-6141-Hxxx#H580 30i/31i/32i-A，
A06B-6142-Hxxx#H580 16i/18i/21i-B，
αiSP A06B-6151-Hxxx#H580 0i-D, 0i-B/C,
9D80
A06B-6152-Hxxx#H580 15i-MB , PMi-D
edition X(24)
0i-D
βiSVSP A06B-6164-Hxxx#H580 Induction spindle motor
*) 9D7A series is a successor of 9D70 series. 9D70/Y was revised to 9D7A/A.
Only the name of the spindle software is changed.
The specification No. of the amplifier is not changed.
9D7A series is revised from 9D70 series, and has an upper compatibility with 9D70 series.
Contents of modification 9D5A/L 9D53/Y 9D7A/A 9D80/X

1) It has become possible to drive αiI150/5000HV with FS0i-D. - - -
2) The protect operation was added to the torque command
calculation not to output over the tolerable current limit of
the amplifier for improvement of reliability.
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SHEET
Notes for using Optimum Orientation and
Corrections of Spindle Parameter Manual

PARAMETER MANUAL
New, Add Applicable
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Notes for using Optimum Orientation Add 2011.07
Correction
Corrections of spindle parameter manual Add 2011.07
Another
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Correction of Spindle Parameter Manual
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01 11.07.29 Tomiyama Newly designed B-65280EN/08-04
SHEET
Notes for using Optimum Orientation and Corrections of Spindle Parameter Manual
1. General
This document describes the notes for using the Optimum Orientation and corrections of FANUC
AC SPINDLE MOTOR αi series Parameter Manual B-65280EN/08.
2. Notes for using Optimum Orientation
In case of using the optimum orientation (30i: No.4018#6,#3=0,1) and the following function (1) or
(2) together, please set the parameter for the reference position return speed without fail.
(1) Reference position return at the start of rigid tapping (30i: No.5202#0=1)
(2) Reference position return for the spindle positioning
The reference position return speed for (1)and (2) is specified by the parameter below.
Please set a value other than 0 in the parameter below in case of using the optimum orientation
function. It’s impossible to do the reference position return if the parameter below is set to 0.
15i 16i 30i
3074 4074 4074 Speed of reference position return for Cs contouring control mode/servo mode

• When 0 is set
The orientation speed is equal to the reference position return speed in servo mode (rigid
tapping/spindle positioning) in case of using conventional type orientation function.

The value set in this parameter is used as a reference position return speed for servo mode
(rigid tapping/spindle positioning).
Set a value other than 0 in case of using the optimum orientation function.
Please set this parameter No.4074 according to the following guideline.

Generally this parameter is set to between 100 and 300. In case of tuning this parameter,
please follow the procedure below.
1) Set 100 as an initial value for No.4074.
2) If an overshoot does not occur at positioning of the reference position return, please
increase the value in No.4074 as far as the overshoot does not occur. The higher speed
of the reference position return, the shorter the time to complete becomes.
3) If an overshoot occurs even when No.4074 is 100, please decrease the value in No.4074
so as to eliminate the overshoot.
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3. Corrections of Spindle Parameter Manual B-65280EN/08
Page Error Correction

305 (1) Input signals (PMC→CNC) (1) Input signals (PMC→CNC)
#7 #6 #5 #4 16i 30i #7 #6 #5 #4
G066 RTRCT G066 G066 RTRCT
(2) Output signals (CNC→PMC) (2) Output signals (CNC→PMC)

30i #7 #6 #5 #4 16i 30i #7 #6 #5 #4
F065 SYNMOD RTRCT F065 F065 SYNMOD RTRCT
408 15i 16i 30i 15i 16i 30i

Magnetic flux boost Magnetic flux boost
completion level / completion level /
3124 4124 4124 3124 4124 4124
magnetic flux boost magnetic flux boost
coefficient coefficient
Set the parameters for using the magnetic Set the parameters for using the magnetic
flux boost function. flux boost function.
For information about the values to be set, For information about the values to be set,
see Subsection 5.15.7. “Adjustment see Subsection 5.17.5 “Adjustment
Procedure.” Procedure”.
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Twin Drive for Spindle Motor
Specifications
1. Outline................................................................................................................................................ 2
2. Application ......................................................................................................................................... 2
2.1. Combination of spindle amplifier and CNC ................................................................................. 2
2.2. Note ............................................................................................................................................ 3
3. System configuration.......................................................................................................................... 4
3.1. In case of a separate sensor....................................................................................................... 4
3.2. In case of a built-in motor............................................................................................................ 5
4. Input/output Signals (CNC↔PMC)..................................................................................................... 6
4.1. Input signals (PMC→CNC) ......................................................................................................... 6
4.2. Output signals (CNC→PMC) ...................................................................................................... 6
5. Sequence examples........................................................................................................................... 7
5.1.1. Velocity mode ...................................................................................................................... 7
5.1.2. Spindle orientation ............................................................................................................... 8
5.1.3. Rigid tapping........................................................................................................................ 9
5.1.4. Cs contouring control ......................................................................................................... 10
6. List of related parameters ................................................................................................................ 10
7. Details of related parameters ............................................................................................................11
8. Alarm and status error...................................................................................................................... 12
8.1. Spindle alarm ............................................................................................................................ 12
8.2. Spindle status error ................................................................................................................... 12
9. Parameters for each motor model.................................................................................................... 13
10. Connection example..................................................................................................................... 14
10.1. In case of configuration with two αiPSs and two αiSPs ........................................................ 14
10.2. In case of configuration with one αiPS and two αiSPs ......................................................... 15
11. Signal Branch Adapter.................................................................................................................. 15
11.1. Order information .................................................................................................................. 15
11.2. External dimension................................................................................................................ 16
11.3. Detail of cable K104 .............................................................................................................. 16
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Specifications
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1. Outline
This document describes the Twin Drive to drive a spindle motor with two windings.
Regarding the specifications of motors driven by the Twin Drive, refer to manuals for each spindle
motor.
PS SP PS SP
2. Application
2.1. Combination of spindle amplifier and CNC
Spindle amplifier CNC

Amplifier spec. 30i-B
Software 16i-B 30i-A
No. 15i-MB 0i-D 31i-B
series 18i-B 31i-A
A06B-xxxx-･･･ 32i-B
9D50
*1 *1 －－－
6112 9D5A
6122 9D70
－－ *2 －－
9D7A
6142
9D80 *3 *3 *3 *4 －
6152
6144
9D90 *5 *5 *5 *6 －
6154
6220
9DA0 －－－ *7 *7
6270
: Available without option

: CNC software option of Spindle tandem control is necessary.
* The Twin Drive uses the Spindle tandem control inside CNC system to control a
motor. So the option of Spindle tandem control has been necessary for the Twin
Drive. From 30i-B series CNC and 0i-D series CNC, the Twin Drive is available
without option of Spindle tandem control.
Applicable spindle software

*1: 9D50/O(15) or later, 9D5A/A(01) or later
*2: 9D70/F(06) or later, 9D7A/A(01) or later
*3: 9D80/A(01) or later
*4: 9D80/X(24) or later
*5: 9D90/A(01) or later
*6: 9D90/H(08) or later
*7: 9DA0/K(11) or later
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Specifications
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2.2. Note
・ The Twin Drive needs two αiSP amplifiers (TYPE B) (as for master SP, slave SP) per one motor.
αiSP of 6220 or 6270 has no distinction between TYPE A and TYPE B. All of the amplifiers
support Twin Drive.
・ The same spindle software series and edition should be used both for the master SP and the
slave SP.
・ The specification of an applied spindle amplifier depends on the specification of the spindle motor.
The specification and the number of power supply (PS) also depend on the specification of the
spindle motor.
・ For designation of spindle axes, 2 spindles are necessary per one twin drive spindle motor
(master SP, slave SP). For designation of control axes, 1 axis is necessary per one twin drive
spindle motor (master SP) in case of Cs contouring control.
・ It is not possible to use Twin Drive and the following functions together:
・ Spindle switching control
・ Position coder signal output (Connector JX4)
・ Spindle EGB
・ Spindle learning control
・ Spindle tandem control (Velocity tandem, Torque tandem)
・ Integrator copy function
・ Synchronous spindle motor driving
・ There is no restriction to assign spindle axes for a master spindle and a slave spindle. In this
document, the following assignment is applied for explanation.
Master SP: 1st spindle
Slave SP: 2nd spindle
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3. System configuration
3.1. In case of a separate sensor
Power line
αiBZ sensor
CNC JA7B JYA4
Master SP Spindle
(TYPE B)
JA7A
αiM sensor
JYA2 JX7B
JX7A
JX7C
JX4 Spindle motor
Signal branch for Twin Drive
adapter
Communication
between spindle
amplifiers
JX4
JA7B JYA2
Slave SP
(TYPE B)
Power line
Note
*1 The motor sensor feedback should be connected to both the master SP and the slave SP
by using a signal branch adapter.
*2 The separate sensor should be connected to the master SP.
*3 Regarding detailed specifications of each cable, refer to FANUC SERVO AMPLIFIER αi
series DESCRIPTIONS (B-65282EN).
*4 The number of power supply (PS) depends on the specification of the spindle motor.
*5 The emergency stop signal for power supply (PS) (connector CX4) should be connected to
each PS.
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3.2. In case of a built-in motor
Power line
CNC JA7B
Master SP
(TYPE B)
JA7A JX7B αiBZ sensor
JYA2 JX7A
JX7C
JX4 Built-in spindle motor
for Twin Drive
Signal branch
Communication adapter
between spindle
amplifiers
JX4
JA7B JYA2
Slave SP
(TYPE B)
Power line
Note
*1 The motor sensor feedback should be connected to both the master SP and the slave by
using a signal branch adapter.
*2 αiCZ sensor (serial) is not applicable for the motor sensor.
*3 Regarding detailed specification of each cable, refer to FANUC SERVO AMPLIFIER αi
series DESCRIPTIONS (B-65282EN).
*4 The number of power supply (PS) depends on the specification of the spindle motor.
*5 The emergency stop signal (connector CX4) for power supply (PS) should be connected to
each PS.
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4. Input/output Signals (CNC↔PMC)
Note
*1 The command to the spindle should be given to the master during Twin driving.
The specification of the input signals is the same as that of a normal spindle (without Twin
Drive).
For details of signals for each control mode, refer to FANUC AC SPINDLE MOTOR αi
series parameter manual (B-65280JA).
*2 When Twin Drive is active, it is not necessary to input signals from PMC to slave SP.
Input signals for slave SP are transmitted from master SP through communication
between spindle amplifiers.
*3 When Twin Drive is active, output signals for master SP should be used for judgments of
sequence (speed arrival, alarm, etc.).
4.1. Input signals (PMC→CNC)

15i 16i 30i, 0i-D #7 #6 #5 #4 #3 #2 #1 #0
1st G228 G073 G073 SLVA
2nd G236 G077 G077 SLVB
SLVA : Tandem mode command (1st spindle)

SLVB : Tandem mode command (2nd spindle)
0 : Tandem mode OFF
1 : Tandem mode ON.
This signal specifies whether Tandem control is active or not.
In case Twin Drive is used, set this signal to 1 for both master SP and slave
SP.
Note
*1 This signal should be changed during spindle stop status. The change
of this signal is not accepted during rotation.
*2 This signal should be changed in the velocity mode. The change of this
signal is not accepted except in the velocity mode.
4.2. Output signals (CNC→PMC)

15i 16i 30i, 0i-D #7 #6 #5 #4 #3 #2 #1 #0
1st F228 F046 F046 SLVSA
2nd F244 F050 F050 SLVSB
SLVSA : Tandem mode status signal (1st spindle)

SLVSB : Tandem mode status signal (2nd spindle)
0 : Tandem mode OFF
1 : Tandem mode ON
After both the signals for the master spindle and the slave spindle become 1,
the command should be given to the master spindle.
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5. Sequence examples
Sequence examples for the following assignment are described as follows.

1st spindle: Master SP
2nd spindle: Slave SP
5.1.1. Velocity mode
Speed-zero
detection signal
SSTA, SSTB
Tandem command
SLVA, SLVB
More than 300ms
Tandem status
SLVSA, SLVSB
Sxxxx(≠0)
Spindle speed
command S0
S code
Master SP
Spindle rotation
command
SFRA or SRVA
Motor speed
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5.1.2. Spindle orientation
Speed-zero
detection signal
SSTA, SSTB
Tandem command
SLVA, SLVB
More than 300ms
Tandem status
SLVSA, SLVSB
Sxxxx(≠0)
Spindle speed
command S0
S code
Master SP
Spindle rotation
command
SFRA or SRVA
Master SP
Orientation
command
ORCMA
Master SP
Orientation
completion signal
ORARA
Motor speed
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5.1.3. Rigid tapping
Speed-zero
detection signal
SSTA, SSTB
Tandem command
SLVA, SLVB
More than 300ms
Tandem status
SLVSA, SLVSB
Mater SP
Spindle rotation
command
SFRA or SRVA
Rigid tapping
command
M29 Sxxxx
G84 Zyyyy …
Motor speed
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5.1.4. Cs contouring control
Speed-zero
detection signal
SSTA, SSTB
Tandem command
SLVA, SLVB
More than 300ms
Tandem status
SLVSA, SLVSB
Sxxxx(≠0)
Spindle speed
command S0
S code
Master SP
Spindle rotation
command.
SFRA or SRVA
Cs contouring
control command
G00 C0.
G01 Cxxxx …
Motor speed
6. List of related parameters
Parameter No.
15i 16i 30i, 0i-D Contents
3015#3 4015#3 4015#3 Spindle tandem control function
Slave axis for communication between spindle
3352#6 4352#6 4352#6
amplifiers
Master axis for communication between
3352#7 4352#7 4352#7
spindle amplifiers
3398#3 4398#3 4398#3 Using Twin Drive
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Note
*1 The spindle parameters for the master spindle and the slave spindle should be the same
setting except the below parameters.
Parameter No.
15i 16i 30i, 0i-D Master SP Slave SP Contents
3352 4352 4352 Communication between
1, 0 0, 1
#7,6 #7,6 #7,6 spindle amplifiers
3002 4002 4002 Depending
0,0,0,0 Kind of spindle sensor
#3,2,1,0 #3,2,1,0 #3,2,1,0 on sensor
Depending
3134 4134 4134 0 Motor overheat level
on motor
7. Details of related parameters
15i 16i 30i, 0i -D #7 #6 #5 #4 #3 #2 #1 #0

3009 4009 4009 ALSP
ALSP Motor power turn-off method when spindle alarm 24 (serial data
0 : Turns off the power after the motor is decelerated to stop.
1 : Turns off the power immediately (Set 1)
15i 16i 30i, 0i -D #7 #6 #5 #4 #3 #2 #1 #0

3015 4015 4015 SPDTDM
SPDTDM Spindle tandem control function (CNC software option is necessary)

0 : Spindle tandem function is not available
1 : Spindle tandem function is available
Note
1 When the Twin drive is used with 30i-B or 0i-D, CNC software
option is not necessary. Regardless of setting status of this, Twin
Drive is available.
2 When the Twin Drive is used with 15i-MB, 16i-B or 30i-A, CNC
software option of Spindle tandem control is necessary. Please
confirm this bit is 1.
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15i 16i 30i, 0i -D #7 #6 #5 #4 #3 #2 #1 #0
3352 4352 4352 MASTER SLAVE
SLAVE Slave axis for communication between spindle amplifies

0 : Not slave axis
1 : Slave axis (Set 1 in case of slave SP)
MASTER Master axis for communication between spindle amplifies
0 : Not master axis
1 : Master axis (Set 1 in case of master SP)
15i 16i 30i, 0i -D #7 #6 #5 #4 #3 #2 #1 #0

3398 4398 4398 WNDTDM
WNDTDM Using Twin Drive

0 : Twin Drive is not available
1 : Twin Drive is available (Set 1)
This parameter specifies whether Twin Drive to drive one motor by
two amplifiers is available or not.
Note
If this bit is 0, Twin Drive does not work. Please confirm this bit is
set to1.
8. Alarm and status error
8.1. Spindle alarm

Alarm No.
30i Contents Measure
15i-MB 16i SP
0i-D
Error in communication
Check the connection of cable
SP0066 9066 SP9066 66 between spindle
(connector JX4).
amplifiers
Alarm occurring on
destination amplifier of Remove alarm factor of the
SP0080 9080 SP9080 80
communication between amplifier.
spindle amplifiers
8.2. Spindle status error

Error No. Contents Measure
・ Wrong settings in parameters for
communication between spindle amplifiers
38 Check parameter settings
・Wrong settings for function which can not used
together with Twin Drive at the same time
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9. Parameters for each motor model
αiI 150/5000HV [Procedure for setting spindle parameters]

Parameter No.
αiSP75HV x2 (*1)
FS30i αiPS100HV x2 (1) For both master spindle and slave
FS15i FS16i 150/ 180 kW spindle, load parameters automatically
FS0i-D
1500 / 5000 min-1 with model code 300.
3007 4007 4007 00000000
3008 4008 4008 00000000 (2) For both master spindle and slave
3009 4009 4009 00000000 spindle, set parameters manually
3010 4010 4010 00010001 according to the parameter table, except
3011 4011 4011 00001010 No.4134 for slave spindle. Set 0 in
3012 4012 4012 10000000 No.4134 for slave spindle.
3013 4013 4013 00001100
3019 4019 4019 00000100 (3) Set parameter for Twin drive. (Refer to
3020 4020 4020 5000 item 5.)
3039 4039 4039 0
3080 4080 4080 10591 (4) Turn off and on again to activate
3083 4083 4083 30 spindle parameters surely.
3100 4100 4100 1520
3101 4101 4101 100
3102 4102 4102 1551
3103 4103 4103 0
3104 4104 4104 2500
3105 4105 4105 0 (*1) Please note that the following
3106 4106 4106 4000 αiSP75HV amplifier is not applicable
3107 4107 4107 0 for this motor.
3108 4108 4108 0 A06B-6122-H075#Hxxx
3109 4109 4109 25
3110 4110 4110 973
3111 4111 4111 324
3112 4112 4112 200
3113 4113 4113 172
3114 4114 4114 0
3115 4115 4115 100
3116 4116 4116 4691
3117 4117 4117 90
3118 4118 4118 100
3119 4119 4119 55
3120 4120 4120 0
3124 4124 4124 0
3127 4127 4127 144
3128 4128 4128 120
3129 4129 4129 0
3130 4130 4130 25700
3134 4134 4134 130
3169 4169 4169 0
Maximum power at acceleration: 216 kW
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10. Connection example
10.1. In case of configuration with two αiPSs and two αiSPs
αiPS αiSP TYPE B αiSP TYPE B αiPS

K2 K2
TB1 TB1 TB1 TB1
K69 K69
CXA2A CXA2B CXA2B CXA2A
K88 2φ 200V∼240V
2φ 200V∼240V
CX1 JX4 JX4 CX1
Magnetic K12 K12 Magnetic
contactor coil JA7B JA7A JA7B contactor coil

CX3 CX3
JYA2 JYA2
From
CX4 CX4 Emergency
Emergency stop CNC K104
contact stop contact
TB1 TB2 TB2 TB1
JX7C
K104 JX7B Signal branch
AC reactor AC reactor
adapter
K10 K10
JX7A
Magnetic contactor Magnetic contactor
K17
αiM sensor
3φ αiMZ sensor
3φ
Spindle motor
200∼240V αiBZ sensor
200∼240V
400∼480V 400∼480V
Note
*1 For detailed specification of each cable, refer to FANUC SERVO AMPLIFIER αi series
DESCRIPTIONS (B-65282EN).
*2 The emergency stop signal (connector CX4) for power supply (PS) should be input to each
PS.
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10.2. In case of configuration with one αiPS and two αiSPs
αiPS αiSP (TYPE B) αiSP (TYPE B)

K2 K2
TB1 TB1 TB1
K69 K69
CXA2A
CXA2A CXA2B CXA2B
K88
2φ 200V∼240V
CX1 JX4 JX4
Magnetic K12 K12

contactor coil JA7B JA7A JA7B
CX3
JYA2 JYA2
From
CX4
Emergency stop CNC K104
contact
TB1 TB2 TB2
JX7C
K104 JX7B Signal branch
AC reactor
adapter
K10 K10
JX7A
Magnetic contactor
K17
αiM sensor
3φ αiMZ sensor
Spindle motor
200∼240V αiBZ sensor
400∼480V
Note
For detailed specification of each cable, refer to FANUC SERVO AMPLIFIER αi series
DESCRIPTIONS (B-65282EN).
11. Signal Branch Adapter
11.1. Order information
Name Specification No. Note

Cable is not attached.
Signal Branch Adapter A06B-6111-H405
Please make it in the user side.
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11.2. External dimension
JX7A
JX7B
90
JX7C
(not used)
55 45
Unit (mm)
Note
Attach this adapter to DIN rail.
11.3. Detail of cable K104
Signal branch αiSP

Shield
adapter (1) MZ MZ (1)
(2) *MZ *MZ (2)
(5) MA MA (5)
JX7B JYA2
(6) *MA *MA (6)
JX7C (7) MB MB (7)
(8) *MB *MB (8)
(13) TH1 TH1 (13)

(15) TH2 TH2 (15)
(12)(14)(16) 0V 0V (12)(14)(16)
(9)(18)(20) 5V 5V (9)(18)(20)
(10) SS SS (10)
20pin half pitch connector 20pin half pitch connector
Honda Tsushin Kogyo CO.LTD Honda Tsushin Kogyo CO.JTD
Case: PCR-V20LA Case: PCR-V20LA
Connector: PCR-E20FS (Solder type） Connector: PCR-E20FS (Solder type)

10 pair, batch shielded type cable
A66L-0001-0284#10P
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(9D90/I(09), 9DA0/L(12))

PARAMETER MANUAL
New, Add Applicable
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Another
Revision of spindle software 9D90/I(09), 9DA0/L(12) Add 2011.08
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(9D90/I(09),9DA0/L(12))
1. Outline
Software
edition
30i/31i/32i-A，
9D90 A06B-6144-Hxxx#H590 16i/18i/21i-B，
αiSP
edition I(09) A06B-6154-Hxxx#H590 0i -B/C, 0i -D,15i-MB,PMi-D

edition L(12) A06B-6270-Hxxx#H600 Induction/ synchronous spindle motor
Contents 9D90/I 9DA0/L

It has become possible to connect spindle amplifier for FS30i-B to
FS0i-D controller.
In the former report for 9DA0/K, we informed that it became possible,
(1) but we found that an alarm occurs when you connect the spindle -
amplifier next to αiPS. We improved it.
Please use 9DA0/L or subsequent editions when you connect the
spindle amplifier for FS30i-B to FS0i-D controller from now on.
We added the function “Spindle DC link stabilizer during power failure”,
which keeps DC link voltage and supports the controlled stop of other
(2) axes at power failure by using kinetic energy of spindle.
Regarding detail of the function, please refer to the technical report
(B-65280EN/08-07).
We corrected the problem that the position error always becomes 0
(3) during Cs contouring control or rigid tapping when we use Dual position
feedback function. Please refer to the item 4 in detail.
We corrected the problem that the Safety parameter error (SP9071) is
(4) -
mis-detected. Please refer to the item 5 in detail.
“U-axis control” using two spindle motors has been supported in this
revision. It’s necessary to update the CNC system software also to use
(5) the function. But the development of CNC system software has not been -
completed yet. After the completion, we’ll issue the technical report for
the function.
“Energy saving level selecting function” has been supported in this
revision. The function enables the smart selection for trade-off between
"shorter cycle time" and "energy saving". It’s necessary to update the
(6) -
CNC system software also to use the function. But the development of
CNC system software has not been completed yet. After the completion,
we’ll issue the technical report for the function.
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4. The problem of Dual position feedback function
We found the problem that the position error always becomes 0 during Cs contouring control or rigid
tapping when we use Dual position feedback function in the following spindle software. We corrected
it.
[The software editions having the problem]

- 9D90 series / edition G(07) or H(08)
- 9DA0 series / edition H(08) to K(11)
[Countermeasure]
When you use Dual position feedback function, please use the software which is not listed above or
use the revised software in this time.
If you use the software having the problem and execute Cs contouring control or rigid tapping, the
position error becomes always 0. And the detection of excess error and in-position check aren’t
executed. As it might cause something trouble, please use the software which doesn’t have the
problem.
5. The problem of mis-detection of Safety parameter error (SP9071)
We found the problem that Safety parameter error (SP9071) occurs when we use the following
spindle software and Dual check safety function. We corrected it.
[The software editions having the problem]

- 9D90 series / edition G(07), H(08)
[Countermeasure]
Please use the revised software (9D90/I) in this time or subsequent edition.
As temporary countermeasure, it’s possible to avoid the alarm by setting No.4544=11111111,
No.4545=00000000.
Additional information)
Dual check safety function doesn’t support “Spindle switching control”. If set Dual check safety ON in
the axis which uses “Spindle switching control”, Safety parameter alarm (SP9071) occurs. Please
don’t use these two functions together.
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Spindle DC-link stabilizer during power failure
Specifications
1. Outline................................................................................................................................................ 2
2. Application ......................................................................................................................................... 2
2.1. Combination of spindle software, amplifier and CNC.................................................................. 2
2.2. Notes for application ................................................................................................................... 3
3. System configuration example ........................................................................................................... 4
3.1. In case of using power failure backup module (PFBM)............................................................... 4
3.2. In case of driving 2 spindles synchronously and using UPS for control power back-up.............. 5
4. Input/output signals (CNC↔PMC) ..................................................................................................... 6
4.1. Input signals (PMC→CNC) ......................................................................................................... 6
4.2. Output signals (CNC→PMC) ...................................................................................................... 6
5. Sequence examples........................................................................................................................... 7
5.1. In case of normal power failure ................................................................................................... 7
5.2. In case unexpected DC-link voltage is detected ......................................................................... 8
6. List of related parameters .................................................................................................................. 9
7. Details of related parameters ............................................................................................................. 9
8. Alarm.................................................................................................................................................11
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Spindle DC-link stabilizer
during power failure
Specifications
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01 11.08.22 Morita Newly designed B-65280EN/08-07
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1. Outline
This document describes specification of Spindle DC-link stabilizer during power failure.
This function monitors power failure detection signal and DC-link voltage, and keeps DC-link voltage
within specific range after power failure until spindle stops by using spindle regenerative energy.
If the following conditions are fully satisfied, you can use spindle regenerative energy for the
retraction at power failure.
(1) Retraction axes are driven by servo amplifiers connected to the same power supply (PS)
which spindle amplifier is also connected.
(2) Spindle always rotates with sufficient kinetic energy when the retraction at power failure is
required.
Example of application
Power failure detection signal (from PS)
DC-link voltage (VDC) Spindle software keeps

265 V
DC-link voltage around
240VDC after power failure
by using regenerative
220 V
Power failure occurs energy of the spindle.
Spindle speed 1000 min-1
2. Application
2.1. Combination of spindle software, amplifier and CNC
Spindle software
Spindle amplifier CNC
Series Version
A06B-6144-Hxxx#H590 FS30i-A/FS31i-A/FS32i-A,
9D90 I (09)
A06B-6154-Hxxx#H590 FS0i-D
A06B-6220-Hxxx#H600 FS30i-B/FS31i-B/FS32i-B/FS35i-B,
A06B-6270-Hxxx#H600
9DA0 L(12) FS0i-D (SVP can’t be used with
A06B-6230-H001#H600 (SVP)
A06B-6280-H001#H600 (SVP) FS0i-D.)
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2.2. Notes for application
・ When you apply this function, you should use UPS(Uninterruptible Power Supply) or Power
Failure Backup Module(PFBM) to keep the control power source for CNC (24VDC) or for servo
amplifiers (Single phase 200VAC for FS30i-A, 24VDC for FS30i-B) during power failure.
If the backup system of control power source is broken, this function dose not work properly.
・ You can use this function with Spindle HRV control (induction motor/ synchronous motor).
・ When you use this function with speed range switching control, you should keep the power
source of magnetic contactor (MCC) to suppress switching of MCC during power failure.
And you have to make the ladder program to keep the state of MCC and signals for speed range
switching control (RSLx/ RCFNx/ RCHPx) during power failure.
・ When you use this function with spindle switching control, you should keep the power source
of MCC to suppress switching of MCC during power failure.
And you have to make the ladder program to keep the state of MCC and signals for spindle
switching control (SPSLx/ MCFNx/ MFNHGx) during power failure.
・ When the system drives plural spindle motors connected mechanically

with synchronous control (Spindle synchronous control/ Spindle tandem control),
you should apply this function to 1 spindle only, and you should set MPOFx signals to “1”
for other spindles when the power failure is detected.
・ When you use this function with spindle software 9DA0 series,
you should use “Servo Amplifiers for series 30i-B CNC (A06B-62xx-Hxxx)”
for all of the Servo Amplifiers (PS/SP/SV).
・ When you use this function with spindle software 9D90 series,
you should use “Servo Amplifiers for series 30i-A CNC (A06B-61xx-Hxxx)”
for all of the Servo Amplifiers (PS/SP/SV).
・ When you use this function with spindle software 9D90 series, you should complete the retraction
within 1 minute, because PS alarm (SP9004/SV0607) may occur in 1 minute after power failure.
Please consult FANUC if you need retraction time over 1 minute.
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3. System configuration example
3.1. In case of using power failure backup module (PFBM)
I/O CNC
/PMC
24VDC for
CNC, I/O Retraction command
VDCABx
PS SP SV VDC PFBM SMC
CX15
24VDC or ~200VAC
for Amplifiers Power failure
~200VAC
detection signal
~200VAC/24VDC
(VDC/24 VDC)
In case servo
amplifiers for
Series 30i-B CNC
~200VAC/24VDC
(VDC/24 VDC)
~200VAC or VDC
Please refer to “FANUC SERVO AMPLIFIER α i series DESCRIPTION (B-65282EN)”

for details of connection.
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3.2. In case of driving 2 spindles synchronously and using UPS for control power back-up
The system drives 2 spindle motors connected mechanically

with synchronous control (Spindle synchronous control/ spindle tandem control).
24 VDC for CNC, I/O

I/O CNC
/PMC Serial spindle I/F
Power failure Retraction command

detection signal
PS#1 SP#1 SV SMC
CX37
VDCABx
Synchronous control
~200VAC
/24VDC
PS#2 SP#2 SV
~200 VAC
/24 VDC MPOFx
In case servo amplifiers

for Series 30i-B CNC
~200VAC ~200VAC
UPS
Please refer to “FANUC SERVO AMPLIFIER α i series DESCRIPTION (B-65282EN)”

for details of connection.
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4. Input/output signals (CNC↔PMC)
4.1. Input signals (PMC→CNC)

30i, 0i -D #7 #6 #5 #4 #3 #2 #1 #0
st
1 SP G073 MPOFA
nd
2 SP G077 MPOFB
MPOFx : Motor power turn off signal (1st spindle)

0 : Disabled
1 : Enabled (Turn off the motor power).
When the system drives plural spindle motors connected mechanically
with synchronous control (Spindle synchronous control/ Spindle tandem
control), you should apply this function to 1 spindle only, and you should set
MPOFx signals to “1” for other spindles when the power failure is detected.
For power failure detection, please use the signal of PS(CX37) or
PFBM(CX15) or unexpected DC-link voltage detection signal (VDCABx).
4.2. Output signals (CNC→PMC)

30i, 0i –D #7 #6 #5 #4 #3 #2 #1 #0
st
1 SP F306 VDCABA
nd
2 SP F308 VDCABB
VDCABx : Unexpected DC-link voltage detection signal

0 : Normal state.
1 : Unexpected state
When you use Spindle DC-link stabilizer during power failure,
this signal turns to “1” and the DC-link stabilizer operation starts
if an unexpected state of DC-link voltage is detected.
When the parameter “VDCPFD(No.4548#5)” is set to”1”, the detection of
unexpected DC-link voltage (Power failure detection with DC-link voltage)
is disabled.
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5. Sequence examples
5.1. In case of normal power failure
Power failure occurs

PS
CX37 Power failure detection of PS

(CX15)
SP
DC-link stabilizer operation ON
SSTx (F signal)
VDCABx (F signal)
CNC
RTRCT (G066.4)
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5.2. In case unexpected DC-link voltage is detected
Power failure occurs

PS
CX37 Power failure detection of PS

(CX15)
SP
DC-link stabilizer operation ON
SSTx (F signal)
VDCABx (F signal)
CNC
RTRCT (G066.4)
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6. List of related parameters
Parameter No.
Contents
30i, 0i –D
4540#7
Setting of spindle DC-link stabilizer during power failure
4670#7
4540#2 Setting of preload during power failure
4548#5
Setting of unexpected state of DC-link voltage detection
4678 #5
4352#4
Setting of torque limit during DC-link keeping operation
4678#4
4510 Spindle DC-link stabilizer/ Upper limit of DC-link voltage
4511 Spindle DC-link stabilizer/ Lower limit of DC-link voltage
7. Details of related parameters
30i, 0i -D #7 #6 #5 #4 #3 #2 #1 #0
Main 4540 GOPF PLDPWF
Sub 4670
GOPF Spindle DC-link stabilizer during power failure is

0 : Disabled
1 : Enabled
When you set this parameter to “1”, the spindle software keeps
DC-link voltage within specific range by using spindle regenerative
energy in case of a power failure or an unexpected state of DC-link
voltage is detected.
When you use this function with Twin drive spindle motor,
please set this parameter to ”1” to master SP and “0” to slave SP.
PLDPWF Setting of preload during power failure

0 : Preload is enabled during power failure
1 : Preload is disabled during power failure
When you use Spindle DC-link stabilizer during power failure
with spindle tandem control and preload, set this parameter to “1” to
both spindles.
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30i, 0i –D #7 #6 #5 #4 #3 #2 #1 #0
Main 4548 VDCPFD PFTLD
Sub 4678
VDCPFD Unexpected state of DC-link voltage detection

(Power failure detection for DC-link voltage) is
0 : enabled (Standard setting)
1 : disabled
If an unexpected state of DC-link voltage is detected, spindle
software starts DC-link stabilizer operation and sets VDCABx to ”1”.
When this parameter is set to”1”, the detection of Unexpected
DC-link voltage is disabled.
In case there are some misdetections of unexpected state of DC-link
voltage during acceleration/ deceleration of spindle, set this
parameter to”1”.
PFTLD Torque limit during power failure is

0 : enabled (Standard setting)
1 : disabled
During the DC-link stabilizer operation is performing, maximum
torque is limited the value specified by No.4025.
When this parameter is set to”1”, torque limit during DC-link stabilizer
operation is disabled.
Note:
Torque limit signal (TLMH,L) is always available
regardless of this parameter setting.
30i, 0i -D
4510 Spindle DC-link stabilizer/ Upper limit of DC-link voltage
Setting Unit : 1 VDC

Setting range : 0, 550~700(400V Amp.), 250~325(200V Amp.)
Standard setting : 0 = 650VDC(400V Amp.), 265VDC(200V Amp.)
30i, 0i -D
4511 Spindle DC-link stabilizer/ Lower limit of DC-link voltage
Setting Unit : 1 VDC

Setting range : 0, 450~650(400V Amp.), 200~300(200V Amp.)
Standard setting : 0 = 550VDC(400V Amp.), 220VDC(200V Amp.)
During the DC-link stabilizer operation is performing, spindle software keeps
DC-link voltage between upper limit (No4510) and lower limit (No4511)
by repeating deceleration mode and velocity keeping mode.
Normally please set 0 to both parameters.
When you adjust these parameters, refer to the setting range of both
parameters.
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8. Alarm
After the spindle is stopped by DC link stabilizer operation, DC-link voltage will go down gradually.
And following alarms will occur, if the control power source is kept at that time.
In case of 9D90 series (Series 30i-A CNC)
CNC alarm message : None.

If a SV is connected, SV alarm (SV0433/ SV0607) will occur.
PS alarm display(LED) : 4 (DC-link low voltage), E (Open phase)
SP alarm display(LED) : None
In case of 9DA0 series (Series 30i-B CNC)
CNC alarm message : SP9004

If SV is connected with PS, SV alarm (SV0607) will occur.
PS alarm display(LED) : 14 (Improper input power)
SP alarm display(LED) : None
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Correction of a parameter for spindle motor βiI15/7000

PARAMETER MANUAL
New, Add Applicable
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Correction of a parameter for spindle motor βiI15/7000 Add 2011.08
Another
TITLE
Correction of a parameter for
spindle motor βiI15/7000
DRAW. No. CUST.

1
01 11.08.22 G.Li Newly designed B-65280EN/08-08
SHEET
Correction of a parameter for spindle motor βiI15/7000
1. General 2. Detail of correction
Motor model βi I 15/7000

This document describes correction of
Applicable amplifier βi SVSPx-18
parameter No.4127 (Load meter indication
Model code -
value at maximum output) for spindle motor Applicable software series
-
βiI15/7000.
and edition
15kW
Continuous rated characteristics
2000/7000min-1
18.5kW
15-min,rated characteristics
Incorrect value: No.4127=148 1500/7000min-1
FS0i -D
Correct value: No.4127=136 FS0i -C
FS0i Mate-D
4007 4007 00000000
4008 4008 00000000
The value of No.4127 is used for calculating 4009 4009 00000000
the load value on the spindle monitor screen 4010
4011
4010
4011
00010000
00011010
and the diagnosis screen (No.410). 4012 4012 10000000
4013 4013 00001100
So in case of setting 148 to No.4127, the 4019 4019 00000100
4020 4020 7000
load meter value is 8% larger than the value 4023 4023
in case of setting 136 to No.4127. 4039 4039 0
4040 4040
But, even though 148 is set to No.4127, the 4041 4041
4048 4048
spindle motor output characteristic and the 4049 4049
alarm detection don’t receive the influence. 4080 4080 15445
4083 4083 30
4093 4093 0
4100 4100 1550
4101 4101 81
4102 4102 1610
4103 4103 0
4104 4104 2500
4105 4105 0
4106 4106 5000
4107 4107 0
4108 4108 0
4109 4109 25
4110 4110 1426
4111 4111 389
4112 4112 200
4113 4113 298
4114 4114 0
4115 4115 100
4116 4116 4344
4117 4117 90
4118 4118 100
4119 4119 32
4120 4120 0
4124 4124 0
4127 4127 136*
4128 4128 0
4129 4129 0
4130 4130 25700
4134 4134 130
4136 4136 0
4138 4138 0
4139 4139 0
4140 4140 0
4141 4141 0
4142 4142 0
4143 4143 0
4144 4144 0
4145 4145 0
4146 4146 0
4147 4147 0
4148 4148 0
4149 4149 0
4150 4150 0
4151 4151 0
4152 4152 0
4153 4153 0
4154 4154 0
4155 4155 0
4156 4156 0
4158 4158 0
4159 4159 0
4161 4161 0
4165 4165 0
4166 4166 0 * Modified parameter
4169 4169 0
TITLE
Correction of a parameter for
spindle motor βiI15/7000
DRAW. No. CUST.

1
01 11.08.22 G.Li Newly designed B-65280EN/08-08
SHEET
( 9D5A/M, 9D5D/A, 9D7A/B, 9D80/Y )

Name FANUC AC SPINDLE MOTOR α+ series,
FANUC AC SPINDLE MOTOR β+ series,
FANUC BUILT-IN SPINDLE MOTOR B+ series
PARAMETER MANUAL
New, Add Applicable
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Revision of spindle software 9D5A/M

Another Revision of spindle software 9D5D/A from 9D53/Y
Add 2011.10
Revision of spindle software 9D7A/B
Revision of spindle software 9D80/Y
TITLE
( 9D5A/M, 9D5D/A, 9D7A/B, 9D80/Y )
DRAW. No. CUST.

SHEET
( 9D5A/M, 9D5D/A, 9D7A/B, 9D80/Y )
1. General

Notes
edition
A06B-6111-Hxxx#H550
16i/18i/21i-B,
A06B-6112-Hxxx#H550
9D5A A06B-6121-Hxxx#H550
edition M(13) A06B-6122-Hxxx#H550
A06B-6111-Hxxx#H553
16i/18i/21i-B,
9D5D *) A06B-6112-Hxxx#H553
edition A(01) A06B-6121-Hxxx#H553
A06B-6122-Hxxx#H553
A06B-6111-Hxxx#H570
9D7A A06B-6112-Hxxx#H570 30i/31i/32i-A,
αiSP
edition B(02) A06B-6121-Hxxx#H570 Induction/ synchronous spindle motor
A06B-6122-Hxxx#H570
A06B-6141-Hxxx#H580 30i/31i/32i-A，
A06B-6142-Hxxx#H580 16i/18i/21i-B，
9D80
edition Y(25)
0i-D
*) 9D5D series is the successor of 9D53 series. 9D53/Y was revised to 9D5D/A.
Only the name of the spindle software is changed.
9D5D series is revised from 9D53 series, and has an upper compatibility with 9D53 series.
TITLE
( 9D5A/M, 9D5D/A, 9D7A/B, 9D80/Y )
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Contents of modification 9D5A/L 9D53/Y 9D7A/A 9D80/X

1) Spindle backlash acceleration function was revised.
Spindle backlash acceleration function has made the
compensation depending on the acceleration value at
reversal point since first. However there are some cases
that it doesn’t work effectively in low speed circle.
Therefore we’ve revised it so that the compensation can
be done effectively by specified parameter value
irrespective of acceleration value. Please refer to the
technical report (B-65280EN/08-10)
2) A problem, which might occur in using “U-axis control”, was
corrected.
“U-axis control” is used to control the servo axis called
U-axis which is on the spindle axis. The function is realized
by input of spindle feedback pulses to Separate detector I/F
unit for servo axes.
We found that there is a possibility that U-axis might move
slightly at the turning on CNC if the following conditions are
satisfied. We revised it in this software edition.
- The output pulses from JX4(A/B phase TTL) on a spindle
amplifier is used for input pulsed to Separate detector I/F
unit for servo axes to use “U-axis control”.
- The DI signal for “U-axis control” (Gn067.4) is “1” at
turning on CNC.
- The spindle had rotated before tuning off CNC
- Only the CNC was turned off/on keeping the power of
spindle amplifier.
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( 9D5A/M, 9D5D/A, 9D7A/B, 9D80/Y )
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Spindle Backlash Acceleration Function
Specifications

PARAMETER MANUAL
New, Add Applicable
Correct, Del Date
Basic Function
Improving the spindle backlash acceleration function

Optional
(The CNC software option (Cs contouring control) is Correct 2011.10
Function
required.)
Unit
Maintenance
Parts
Notice
Correction
Another
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Specifications
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Specifications
1. Outline................................................................................................................................................ 3
2. Series and Editions of Applicable Spindle Software ........................................................................... 3
3. Block diagram .................................................................................................................................... 4
4. Parameter .......................................................................................................................................... 4
4.1. Parameter list.............................................................................................................................. 4
4.2. Details of parameters .................................................................................................................. 4
5. Additional information......................................................................................................................... 8
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1. Outline
The spindle backlash acceleration function improves a contour error caused by the delay in the
reversal point in Cs contouring control axis.
NOTE
1 To use this function, the CNC software option (Cs contouring control) is required.
2 This function is unavailable for the sub-spindle for spindle switching.
3 This function can’t be used together with the spindle EGB function.
2. Series and Editions of Applicable Spindle Software

9D50 O(15) edition or later FS16i / FS18i / FS21i-B, FS0i-B/C/D , FS15i-B
9D5A A(01) edition or later FS16i / FS18i / FS21i-B , FS0i-B/C/D , FS15i-B
9D53 G(07) edition or later FS16i / FS18i / FS21i-B , FS0i-B/C/D , FS15i-B
9D5D A(01) edition or later FS16i / FS18i / FS21i-B , FS0i-B/C/D , FS15i-B
9D70 F (06) edition or later FS30i / FS31i / FS32i-A
9D7A A (01) edition or later FS30i / FS31i / FS32i-A
9D80 A (01) edition or later FS16i / FS18i / FS21i-B , FS0i-B/C/D ,FS15i-B , FS30i / FS31i / FS32i-A
9D90 A (01) edition or later FS16i / FS18i / FS21i-B , FS0i-B/C/D ,FS15i-B , FS30i / FS31i / FS32i-A
9DA0 A (01) edition or later FS30i / FS31i / FS32i-B
Note) We added the following two improvements about spindle backlash acceleration in 9D5A/M(13),
9D5D/A(01), 9D7A/B(02), 9D80/Y(25), 9D90/J(10), and 9DA0/M(13).
- The improvement to give an enough effenct even in the low speed revesal movement
- The improvement for a problem that backlash acceleration doesn’t work correctly in some setting
cases of relationship between motor direction and spindle direction, relationship between spindle
direction and sensor direction.
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3. Block diagram
α: Advanced preview feed forward

coefficient (No.4344)
Velocity loop
αs (PI controller)
PG: Position gain Kp: Proportional gain

Move （No.406x） + (No.404x)
command + + +
PG Kp Torque
command
- - +
Ki: Integral gain
(No.405x)
Position Velocity +
feedback feedback Ki 1/s
+
Backlash acceleration
compensation calculation
Backlash acceleration ON/OFF
Backlash acceleration: Compensation depending on reversal acceleration(No.4455) (No.4402#0)
Backlash acceleration: Compensation independent of reversal acceleration(No.4457) (Note)
Backlash acceleration: Stop timing (No.4456)
Note) No.4457(Compensation independent of reversal acceleration) can be used with 9D5A/M(13),

9D5D/A(01), 9D7A/B(02), 9D80/Y(25), 9D90/J(10), and 9DA0/M(13).
4. Parameter
4.1. Parameter list

15i 16i/30i/0i
3402#0 4402#0 Backlash acceleration ON
3402#1 4402#1 Setting of the feed-forward coefficient when the backlash acceleration function is enabled
3353#0 4353#0 Improvement of backlash acceleration for low speed reverse (Note)
3455 4455 Backlash acceleration : Compensation depending on reversal acceleration
3457 4457 Backlash acceleration : Compensation independent of reversal acceleration (Note)
3456 4456 Backlash acceleration : Stop timing
3458 4458 Backlash acceleration : Time for judgement as axis stop (Note)
Note) These parameters can be used with 9D5A/M(13), 9D5D/A(01), 9D7A/B(02), 9D80/Y(25),
9D90/J(10), and 9DA0/M(13).
4.2. Details of parameters
15i 16i, 30i, 0i #7 #6 #5 #4 #3 #2 #1 #0

3402 4402 MDLINF BKAFNC
BKAFNC Backlash acceleration function is

0 : OFF
1 : ON
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MDLINF Setting for the advanced preview feed-forward coefficient when the
backlash acceleration function is enabled
0 : Feed-forward coefficient is less than 100% (No.4344≠10000).
1 : Feed-forward coefficient is 100% (No.4344=10000).
15i 16i, 30i, 0i #7 #6 #5 #4 #3 #2 #1 #0

3353 4353 BKAITP
BKAITP Improvement of backlash acceleration for low speed reverse is

0 : Not done
1 : Done
Please set “1” in this parameter to make backlash acceleration effective

even in low speed.
But if you set this parameter in the machine which has not used this
parameter, there is a possibility that the behavior might be changed. Please
take care of it.
Note) This parameter can be used with 9D5A/M(13), 9D5D/A(01),

9D7A/B(02), 9D80/Y(25), 9D90/J(10), and 9DA0/M(13).
15i 16i, 30i, 0i

3455 4455 Backlash acceleration : Compensation depending on reversal acceleration
Unit of data : Internal unit

Standard setting value : 10 or so
This parameter determines the compensation, which is depending on the
reversal acceleration.
It is mainly used to compensate the delay at relatively high speed.
15i 16i, 30i, 0i

3457 4457 Backlash acceleration : Compensation independent of reversal acceleration
Unit of data : Internal unit

This parameter determines the compensation, which is fixed value and
independent of the reversal acceleration.
It is mainly used to compensate the delay at relatively low speed.
This parameter becomes effective only when No.4353#0=1.

9D7A/B(02), 9D80/Y(25), 9D90/J(10), and 9DA0/M(13).
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15i 16i, 30i, 0i
3456 4456 Backlash acceleration : Stop timing
Unit of data : 0.001deg

This parameter determines the finish timing of backlash acceleration.
Backlash acceleration will stop after the spindle moves the distance
specified by this parameter from reversal point.
If the value is small and not enough, backlash acceleration will stop
instantly and it works with less effect.
On the contrary, if the value is too much large, it works with over effect,
because the compensation will keep during long distance.
15i 16i, 30i, 0i

3458 4458 Backlash acceleration : Time for judgment as axis stop
Unit of data : 1ms

Standard setting value : 0 (The value “0” is treated as “200” internally.)
When the axis stops during a time specified by this parameter after start of
backlash acceleration, backlash acceleration will stop.
Normally the management of acceleration stop is done by the parameter of
stop timing. But if the reverse distance is very small and it is less than the
parameter value of stop timing, backlash acceleration will continue. To
avoid such situation, this parameter manages the time period of backlash
acceleration.
If this parameter is “0”, “200” ms is used as time period. This parameter

becomes effective only when No.4353#0=1.
When you execute circle movement at very low speed, there is a possibility
that the backlash acceleration doesn’t work because of the effect of this
parameter as the motor hardly move at the reversal point. In such case
please set the value over 200.

9D7A/B(02), 9D80/Y(25), 9D90/J(10), and 9DA0/M(13).
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(Note) Parameters for rotation direction of spindle or sensor
There are following parameters to specify the rotation direction of spindle or sensor. There are some cases that
backlash acceleration function doesn’t work correctly depending on some combination of following parameters.
We improved it in the following spindle softwares.
Improved software : 9D5A/M(13), 9D5D/A(01), 9D7A/B(02), 9D80/Y(25), 9D90/J(10), 9DA0/M(13)

and subsequent editions
15i 16i, 30i, 0i #7 #6 #5 #4 #3 #2 #1 #0

3000 4000 ROTA2 ROTA1
ROTA1 Indication of the relationship between the rotation directions of spindle and
spindle motor
0 : The spindle and spindle motor rotate in the same direction.
1 : The spindle and spindle motor rotate in the reverse direction.
ROTA2 Indication of 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.
15i 16i, 30i, 0i #7 #6 #5 #4 #3 #2 #1 #0

3001 4001 SSDIRC
SSDIRC Indication of the mounting direction of spindle sensor

0 : The spindle and spindle sensor rotate in the same direction.
1 : The spindle and spindle sensor rotate in the reverse direction.
15i 16i, 30i, 0i #7 #6 #5 #4 #3 #2 #1 #0

3002 4002 CSDRCT
CSDRCT Selection of using the rotation direction signal (SFR/SRV) on Cs contouring

control
0 : Using the rotation direction signal
1 : Not using the rotation direction signal
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5. Additional information
There are some cases that the delay at reversal point can’t be compensated only by backlash
acceleration function because of the large mechanical backlash in case of the spindle, which is
connected to the motor by some gears. In such case, there is a possibility that the delay at reversal
point might be well compensated by following settings.
- Use Dual position feedback function together

- Set a value, which is equal to the amount of mechanical backlash, in Backlash compensation
parameter (No.1851)
- Set following parameter
15i 16i, 30i, 0i #7 #6 #5 #4 #3 #2 #1 #0

3005 4005 HBKLEN
HBKLEN Destination to add backlash compensation at using Dual position feedback

0 : Error counter for full-closed side
1 : Error counter for semi-closed side <- Set this bit
TITLE
Specifications
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SHEET
(9D90/J(10), 9DA0/M(13))

PARAMETER MANUAL
New, Add Applicable
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Another
Revision of spindle software 9D90/J(10), 9DA0/M(13) Add 2011.12
TITLE
(9D90/J(10),9DA0/M(13)
DRAW. No. CUST.

1
SHEET
(9D90/J(10),9DA0/M(13))
1. Outline
Software
edition
30i/31i/32i-A，
9D90 A06B-6144-Hxxx#H590 16i/18i/21i-B，
αiSP
edition J(10) A06B-6154-Hxxx#H590 0i -B/C, 0i -D,15i-MB,PMi-D

edition M(13) A06B-6270-Hxxx#H600 Induction/ synchronous spindle motor
Contents 9D90/J 9DA0/M

Spindle backlash acceleration function was revised.
Spindle backlash acceleration function has made the compensation
depending on the acceleration value at reversal point since first.
However there are some cases that it doesn’t work effectively in low
(1)
speed circle. Therefore we’ve revised it so that the compensation can
be done effectively by specified parameter value irrespective of
acceleration value. Please refer to the technical report
(B-65280EN/08-10)
Energy saving level selecting function is supported. Please refer to the
(2) -
technical report A-93722 in detail.
In spindle EGB(Electric Gear Box), in order to follow the master axis of
EGB precisely, the No.4036 (Feed forward coefficient) normally should
be set to 100%. At that time, No.4036 is applied to both to following
command for master axis and to superimposed CNC command.
Now a new specification is added, that feed forward coefficient for the
following command for master axis is fixed as 100% and No.4036 is
(3)
applied only to superimposed CNC command.
No.4548#6
0: The feed forward coefficient for following command for master axis is
No.4036
1: The feed forward coefficient for following command for master axis is
100% regardless of No.4036.
Spindle inertia estimation function was improved. The applicable inertia
(4)
range was expanded to ten times of former one.
TITLE
(9D90/J(10),9DA0/M(13)
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SHEET
Contents 9D90/J 9DA0/M

The protect operation was added to the torque command calculation not
(5) to output over the tolerable current limit of the amplifier for improvement
of reliability.
A problem, which might occur in using “U-axis control”, was corrected.
“U-axis control” is used to control the servo axis called U-axis which is
on the spindle axis. The function is realized by input of spindle feedback
pulses to Separate detector I/F unit for servo axes.
We found that there is a possibility that U-axis might move slightly at the
turning on CNC if the following conditions are satisfied. We revised it in
(6) this software edition. -
- The output pulses from JX4(A/B phase TTL) on a spindle amplifier is
used for input pulsed to Separate detector I/F unit for servo axes to use
“U-axis control”.
- The DI signal for “U-axis control” (Gn067.4) is “1” at turning on CNC.
- The spindle had rotated before tuning off CNC
- Only the CNC was turned off/on keeping the power of spindle amplifier.
In the former edition, disconnection alarm occurs, when the following
action is executed.
- Detach the spindle
(7) -
- After that, the power of CNC turns off/on
At this moment, the alarm occurs.
In this software edition, it was fixed.
TITLE
(9D90/J(10),9DA0/M(13)
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SHEET
Divided backlash compensation output
in non-cutting mode for Cs contour control
Specifications

PARAMETER MANUAL
New, Add Applicable
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Another
Addition of correspondence of spindle software series Correct 2012.10
TITLE
Divided backlash compensation output in
non-cutting mode for Cs contour control
02 12.10.12 Tajima 02 Edition added (page 3 changed) Specifications
DRAW. No. CUST.
1
SHEET
Divided backlash compensation output
in non-cutting mode for Cs contour control
Specifications
1. Outline................................................................................................................................................ 3
2. Series and Editions of Applicable Spindle Software ........................................................................... 3
3. Parameter .......................................................................................................................................... 3
3.1. Related parameter table.............................................................................................................. 3
3.2. Explanation of parameters .......................................................................................................... 4
3.3. A parameter for reference ........................................................................................................... 5
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Specifications
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1. Outline
There is a case that we use Dual position feedback function together with using the method to add
backlash compensation to the error counter for semi-closed side to improve the delay of reverse of
Cs contour control axis in cutting. It is used for the axis, which has relatively large backlash because
of large reduction ratio between the motor and the spindle, like in large rotary table. In such case, it’ s
necessary to set relatively large backlash compensation to improve the reversal behavior in cutting.
However there is a possibility that the large position command and instantaneous large backlash
compensation might cause a shock in the machine in “non-cutting mode”(NOTE).
We added the new specification that we can give the divided backlash compensation in non-cutting
mode. It becomes possible not to output backlash compensation instantly but to output it gently, and
becomes possible to reduce the mechanical shock.
NOTE
“non-cutting mode” includes the rapid traverse, Jog feed and handle mode.
The divided compensation will be invalid at the handle interrupt during AUTO mode.
2. Series and Editions of Applicable Spindle Software

9D5A N(14) edition or later FS0i-D
9D5D B(02) edition or later FS0i- D
9D7A C (03) edition or later FS30i / FS31i / FS32i-A
9D8A A (01) edition or later FS0i-D, FS30i / FS31i / FS32i-A
② 9D90 P (16) edition or later FS0i-D, FS30i / FS31i / FS32i-A
② 9DA0 S (19) edition or later FS0i-D, FS30i / FS31i / FS32i / FS35i -B
Note) 9D5A series, 9D5D series, 9D7A series and 9D8A series are the successor of 9D50 series,
9D53 series, 9D70 series and 9D80 series respectively.
3. Parameter
3.1. Related parameter table
Parameter number
Content
30i ,0i-D
1851 Backlash compensation amount
4600 Divided amount for backlash compensation
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02 12.10.12 Tajima 2. changed (② added) Specifications
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3.2. Explanation of parameters
30i, 0i-D
1851 Backlash compensaiton amount
Unig : Detection unit

Range : -9999~9999
Please set backlash compensation amout for each axis
30i, 0i-D
4600 Divided amount of backlash compensation
Unit : Detection unit

データ範囲 : -9999~9999
Please set the divided backlash compensation for non-cutting mode. It is
derived from No.1851 and should be smaller than No.1851.
We show an example of No.1851=80 and No.4600=10 as following

In normal backlash compensation, the amount “80” is output in one shot.
But when we set No.4600=10, the amount “10” is output in eighth times.
(If No.1851 is not divisible by No.4600, the remainder is output in the last
time compensation.)
80
[Divided backlash
compensation invalid]
No.1851=80
No.4600=0
time
[Divided backlash
compensation valid]
No.1851=80
No.4600=10 10 10 10 10 10 10 10 10
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3.3. A parameter for reference
Please set the following parameter to input backlash compensation to the error counter for
semi-closed side when you use Dual position feedback function.
30i, 0i-D #7 #6 #5 #4 #3 #2 #1 #0
4005 HBKLEN
HBKLEN Destination to add backlash compensation at using Dual position feedback

0 : Error counter for full-closed side
1 : Error counter for semi-closed side <- Set this bit
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Specifications
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( 9D5A/N(14), 9D5D/B(02), 9D7A/C(03), 9D8A/A(01) )

PARAMETER MANUAL
Spec. No./ Ver. B-65280EN/08
New, Add Applicable
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
- Revision of spindle software 9D5A/N(14)

- Revision of spindle software 9D5D/B(02)
Another - Revision of spindle software 9D7A/C(03)
Add 2011.12
- Revision of spindle software 9D8A/A (01) from 9D80/Y(25)
- Addition of model codes for automatic initial parameter
setting
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( 9D5A/N(14), 9D5D/B(02), 9D7A/C(03),
9D8A/A(01) )
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( 9D5A/N(14), 9D5D/B(02), 9D7A/C(03), 9D8A/A(01) )
1. Outline

Notes
edition
A06B-6111-Hxxx#H550
16i/18i/21i-B,
A06B-6112-Hxxx#H550
9D5A A06B-6121-Hxxx#H550
edition N(14) A06B-6122-Hxxx#H550
A06B-6111-Hxxx#H553
16i/18i/21i-B,
9D5D A06B-6112-Hxxx#H553
edition B(02) A06B-6121-Hxxx#H553
A06B-6122-Hxxx#H553
A06B-6111-Hxxx#H570
9D7A A06B-6112-Hxxx#H570 30i/31i/32i-A,
αiSP
edition C(03) A06B-6121-Hxxx#H570 Induction/ synchronous spindle motor
A06B-6122-Hxxx#H570
A06B-6141-Hxxx#H580 30i/31i/32i-A，
A06B-6142-Hxxx#H580 16i/18i/21i-B，
9D8A *)
edition A(01)
0i-D
*) 9D8A series is the successor of 9D80 series. 9D80/Y was revised to 9D8A/A.
Only the name of the spindle software was changed.
9D8A series was revised from 9D80 series, and has an upper compatibility with 9D80 series.
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( 9D5A/N(14), 9D5D/B(02), 9D7A/C(03),
9D8A/A(01) )
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Contents of modification 9D5A/N 9D5D/B 9D7A/C 9D8A/A

1) When the large backlash compensation for Cs contour
control is set in case of existing large backlash in the axis
which has large reduction ratio between motor and spindle,
there is a possibility that a shock occurs in handle
movement due to the instant adding of large compensation.
So we've prepared the new function that the divided
backlash compensation can be output in non-cutting mode.
Please refer to the technical report B-65280EN/08-12 in
detail.
2) Some model codes for automatic initial parameter setting
are added. They are
- the combination of βiI 6/10000 and βiSVSPx-18
- the combination of βiIp 15/6000 and βiSVSPx-18
- -
Please refer to item 4 about the concrete parameters.
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( 9D5A/N(14), 9D5D/B(02), 9D7A/C(03),
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4. Addition of model codes for AC SPINDLE MOTOR βi series
4.1 Outline
Model codes for FANUC AC SPINDLE MOTOR βi series are added.
Spindle motor Amplifier Model code

βiIP 15/6000 (A06B-1442-…) βiSVSP*-18 (A06B-6164-…) 354
βiIP 18/6000 (A06B-1443-…) βiSVSP*-18 (A06B-6164-…) 355
βiSVSP*-15 (A06B-6134-…
βiIP 22/6000 (A06B-1459-…) 356
A06B-6164-…)
βiIP 22/6000 (A06B-1459-…) βiSVSP*-18 (A06B-6164-…) 357
βiIP 30/6000 (A06B-1499-…) βiSVSP*-18 (A06B-6164-…) 358
βiI 6/10000 (A06B-1445-…) βiSVSP*-18 (A06B-6164-…) 359
βiI 8/10000 (A06B-1446-…) βiSVSP*-18 (A06B-6164-…) 360
βiI 12/8000 (A06B-1447-…) βiSVSP*-18 (A06B-6164-…) 361
βiI 15/7000 (A06B-1498-…) βiSVSP*-18 (A06B-6164-…) 362
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( 9D5A/N(14), 9D5D/B(02), 9D7A/C(03),
9D8A/A(01) )
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4.2 Added parameter tables
Spindle motor βiI series
Motor model βi I 6/10000 β i I 8/10000 βi I 12/8000 βi I 15/7000
Applicable amplifier βi SVSPx-18 βi SVSPx-18 βi SVSPx-18 βi SVSPx-18
Model code 359 360 361 362
Applicable software
9D8A/A 9D8A/A 9D8A/A 9D8A/A
series and edition
Continuous rated 5.5kW 7.5kW 11kW 15kW
characteristics -1
2000/10000min 2000/10000min
-1
2000/8000min
-1
2000/7000min
-1
15-min. rated 7.5kW 11kW 15kW 18.5kW

characteristics -1
1500/10000min 1500/10000min
-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 00011010 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
4040
4041
4048
4049
4080 14170 75 60 15445
4083 30 30 30 30
4093 0 0 0 0
4100 1550 1500 1550 1550
4101 90 95 82 81
4102 2621 2602 1844 1610
4103 58 64 80 0
4104 2000 2000 3000 2500
4105 0 0 0 0
4106 5500 6000 8000 5000
4107 0 0 0 0
4108 0 0 0 0
4109 25 25 25 25
4110 1040 1774 1375 1426
4111 208 381 355 389
4112 200 200 200 200
4113 800 500 705 298
4114 0 0 23040 0
4115 100 100 100 100
4116 7395 8000 6300 4344
4117 90 90 90 90
4118 100 100 100 100
4119 12 19 14 32
4120 0 0 0 0
4124 0 0 0 0
4127 150 161 150 136
4128 115 78 95 0
4129 0 0 0 0
4130 25700 25700 25700 25700
4134 110 110 110 130
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
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( 9D5A/N(14), 9D5D/B(02), 9D7A/C(03),
9D8A/A(01) )
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Spindle motor βiIp series
Motor model βi IP 15/6000 βi IP 18/6000 βi IP 22/6000 βi IP 22/6000 βi IP 30/6000
Applicable amplifier βi SVSPx-18 βi SVSPx-18 βi SVSPx-15 βi SVSPx-18 βi SVSPx-18
Model code 354 355 356 357 358
Applicable software 9D5A/N
9D8A/A 9D8A/A 9D8A/A 9D8A/A
series and edition 9D8A/A
Continuous rated 7.5kW 9kW 11kW 11kW 15kW
characteristics 1200/6000min
-1
1000/6000min
-1
1000/6000min
-1
1000/6000min
-1
1000/6000min
-1
15-min. rated 9kW 11kW 15kW 15kW 18.5kW

-1
750/6000min
-1
750/6000min
-1
750/6000min
-1
750/6000min
-1
FS0i
4007 00000000 00000000 00000000 00000000 00000000
4008 00010000 00010000 00010000 00010000 00010000
4009 00000000 00000000 00000000 00000000 00000000
4010 00010000 00010000 00010000 00010000 00010000
4011 00001010 00001010 00001010 00001010 00001010
4012 10000000 10000000 10000000 10000000 10000000
4013 00001100 00001100 00001100 00001100 00001100
4019 00000100 00000100 00000100 00000100 00000100
4020 6000 6000 6000 6000 6000
4023
4039 0 0 0 0 0
4040
4041
4048
4049
4080 20575 21845 19275 19275 16730
4083 30 30 30 30 30
4093 0 0 0 0 0
4100 750 750 770 770 750
4101 79 79 100 100 100
4102 1566 1191 953 953 1007
4103 0 0 0 0 0
4104 2000 3000 4000 4000 3500
4105 0 0 0 0 0
4106 7000 7000 9000 9000 8000
4107 0 0 0 0 0
4108 0 0 0 0 0
4109 25 25 25 25 25
4110 1886 1586 1077 1436 1143
4111 503 410 333 333 334
4112 200 200 200 200 200
4113 228 268 300 300 300
4114 0 0 20480 20480 0
4115 100 100 100 100 100
4116 5307 4194 4408 4408 4298
4117 90 90 90 90 90
4118 100 100 100 100 100
4119 42 36 32 32 32
4120 0 0 0 0 0
4124 0 0 0 0 0
4127 132 134 150 150 136
4128 90 105 103 103 0
4129 0 0 0 0 0
4130 25700 25700 25700 25700 25700
4134 130 130 130 130 130
4136 0 0 0 0 0
4138 0 0 0 0 0
4139 0 0 0 0 0
4140 0 0 0 0 0
4141 0 0 0 0 0
4142 0 0 0 0 0
4143 0 0 0 0 0
4144 0 0 0 0 0
4145 0 0 0 0 0
4146 0 0 0 0 0
4147 0 0 0 0 0
4148 0 0 0 0 0
4149 0 0 0 0 0
4150 0 0 0 0 0
4151 0 0 0 0 0
4152 0 0 0 0 0
4153 0 0 0 0 0
4154 0 0 0 0 0
4155 0 0 0 0 0
4156 0 0 0 0 0
4158 0 0 0 0 0
4159 0 0 0 0 0
4161 0 0 0 0 0
4165 0 0 0 0 0
4166 0 0 0 0 0
4169 0 0 0 0 0
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( 9D5A/N(14), 9D5D/B(02), 9D7A/C(03),
9D8A/A(01) )
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(9D90/K(11), 9DA0/N(14))

PARAMETER MANUAL
New, Add Applicable
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Another
Revision of spindle software 9D90/K(11), 9DA0/N(14) Add 2012.02
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(9D90/K(11),9DA0/N(14)
DRAW. No. CUST.

SHEET
(9D90/K(11),9DA0/N(14))
1. Outline
Software
edition
30i/31i/32i-A，
9D90 A06B-6144-Hxxx#H590 16i/18i/21i-B，
αiSP
edition K(11) A06B-6154-Hxxx#H590 0i-B/C, 0i-D,15i-MB,PMi-D
9DA0 αiSP A06B-6220-Hxxx#H600 30i//31i//32i/-B, 35 i-B

edition N(14) A06B-6270-Hxxx#H600 Induction/ synchronous spindle motor
Contents 9D90/K 9DA0/N

In Cs contour control, IS-D (0.00001 deg) command was supported.
(1) Please refer to the technical report (A-97077E-009) to know detail -
information.
The following data was added as measurable spindle data by SERVO
GUIDE.
TCMD2 : Torque command value in consideration of torque limit.
Generally speaking, spindle motors are used by limited output torque
according to velocity in order to achieve specified output characteristics.
A generally used torque command data TCMD output the value, which
shows the maximum torque value of spindle motor as 100%. Even if
(2) spindle motor outputs specified maximum torque, there are some cases
that TCMD doesn’t show 100%.
In this revision, we prepared data TCMD2, which shows the specified
limited torque value as 100%. We recommend you to use data TCMD2
when you want to know the margin to the limit of torque, for example, in
case of the adjustment of FSSB High-speed rigid tapping.
It’s necessary to prepare SERVO GUIDE 8.10 edition or later in order
to observe data TCMD2.
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(9D90/K(11),9DA0/N(14)
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Load meter
(Normalized by cont. rated output)

PARAMETER MANUAL
New, Add Applicable
Correct, Del Date
Load meter (Normalized by cont. rated output) was

Basic Function Add 2012.05
added.
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Another
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Load meter
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01 12.05.17 Li Newly designed B-65280EN/08-15
SHEET
Load meter (Normalized by cont. rated output)
1. Outline
We added the new type of load meter which is normalized by continuous rated output and in
addition to the existing load meter which is normalized by maximum output. It’s possible to select
appropriate type in two types.
- Existing load meter normalized by max. output shows the character that load meter value
becomes constant at maximum output in all speed. It is suited to watch the margin to the
maximum output. (The example of this type load meter is shown as Fig.(b) when the motor
output character is Fig.(a). )
- New load meter normalized by cont. rated output shows the character that load meter value
becomes constant at continuous rated output in all speed. It is suited to watch the margin to the
continuous rated output. (The example of this type load meter is shown as Fig.(c) when the
motor output character is Fig.(a). )
Maximum output (at constant speed)
Short time rated output
Power [kW]
Continuous rated output
Speed [min-1]
(a) Output power character of spindle motor
Continuous rated output Maximum output (at constant speed)

10 Maximum value 1*
8.3
Load [%]
Load [V]
* Maximum value 1: depending on

output power character of the motor
Speed [min-1]
(b) Load meter normalized by max. output (existing type)
Continuous rated output Maximum output (at constant speed)

10 Maximum value 2*
8.3
Load [%]
Load [V]
* Maximum value 2: depending on

output power character of the motor
Speed [min-1]
(c) Load meter normalized by cont. rated output (new type)
Fig 1. Output power character and Load meter

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Note)
*1 It’s impossible to apply load meter normalized by max. output and load meter normalized by cont. rated
output together.
*2 It’s impossible to select different load meter type in main axis and sub axis of spindle switching control.
2. Series and editions of applicable spindle software

9D90 G (07) edition or later FS0i- D , FS30i / FS31i / FS32i-A
9DA0 I (09) edition or later FS30i / FS31i / FS32i-B, FS35i-B
3. Parameter
3.1. Parameter list
Parameter No.
MH ML SH SL Contents Remarks
Switching bit for changing load New parameter
meter type (Normalized by max.
4352#3 ← ← ←
output / Normalized by cont. rated
output)
A parameter depending on motor model
(This parameter has been used since
previous. But the meaning of this
4127 4093 4274 4279 Load meter value at max. output
parameter is changed at using load
meter normalized by cont. rated output.)
(Ref. 3-2)
New parameter depending on motor
Parameter (1) for load meter
4612 4614 4728 4730 model
normalized by cont. rated output
(Ref. 3-2)
New parameter depending on motor
Parameter (2) for load meter
4613 4615 4729 4731 model
normalized by cont. rated output
(Ref. 3-2)
Selection bit of detection base for New parameter
4353#3 ← ← ← load detection level signal (LDT1A
and LDT2A)
This parameter has been used since
previous to determine load detection
level. But the meaning of this parameter
4026 ← 4201 ← Load detection level 1
is changed at using load meter
normalized by cont. rated output.
(Ref. 3-2)
This parameter has been used since
previous to determine load detection
level. But the meaning of this parameter
4027 ← ← ← Load detection level 2
is changed at using load meter
normalized by cont. rated output.
(Ref. 3-2)
Note)
MH: Parameter number for high speed winding in main side used in spindle switching control
ML: Parameter number for low speed winding in main side used in spindle switching control
SH: Parameter number for high speed winding in sub side used in spindle switching control
SL: Parameter number for low speed winding in sub side used in spindle switching control
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#7 #6 #5 #4 #3 #2 #1 #0
MAIN/SUB 4352 LMTYPE
LMTYPE Selection of load meter type (Regarding load meter type, please find Fig. 1.)
0 : Load meter normalized by max. output
1 : Load meter normalized by cont. rated output
MH 4127 Load meter value at max. output

ML 4093 Same as above
SH 4274 Same as above
SL 4279 Same as above
Setting value : This is the motor-specific parameter. Please find the following table to know the value.
MH 4612 Parameter (1) for load meter normalized by cont. rated output
MH 4613 Parameter (2) for load meter normalized by cont. rated output
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Parameter table for ai series power up models Load meter parameter table
Motor model αi I 6/10000 αi I 8/8000 αi I 12/7000
Drawing No. A06B-1406-Bxxx#0Pxx A06B-1407-Bxxx#0Pxx A06B-1408-Bxxx#0Pxx
Low-speed winding
－－－
characteristics
High-speed winding 5.5/7.5/11kW 7.5/11/15 11/15/18.5
-1
characteristics 1500/10000min 1500/8000 1500/7000
FS30i
Load meter Load meter Load meter
Load meter Load meter Load meter
（Normalized by （Normalized by （Normalized by
MH ML SH SL cont. rated cont. rated cont. rated
max. output） max. output） max. output）
output） output） output）
4127 4093 4274 4279 240(*1) 240 240(*1) 240 202(*1) 202
4352
← ← ← 0(*1) 1 0(*1) 1 0(*1) 1
#3
4612 4614 4728 4730 0(*1) 97 0(*1) 75 0(*1) 127
4613 4615 4729 4731 0(*1) 21643 0(*1) 16514 0(*1) 16774
Motor model αi I 15/7000 αi I 18/7000 αi I 22/7000

Drawing No. A06B-1409-Bxxx#0Pxx A06B-1410-Bxxx#0Pxx A06B-1411-Bxxx#0Pxx
Low-speed winding
－－－
characteristics
High-speed winding 15/18.5/25 18.5/22/30 22/26/35
characteristics 1500/7000 1500/7000 1500/7000
FS30i Load meter
Load meter
Load meter
Load meter
Load meter
Load meter
MH ML SH SL cont. rated cont. rated cont. rated
max. output） max. output） max. output）
output） output） output）
4127 4093 4274 4279 200(*1) 202 195(*1) 195 191(*1) 191
4352
← ← ← 0(*1) 1 0(*1) 1 0(*1) 1
#3
4612 4614 4728 4730 0(*1) 128 0(*1) 132 0(*1) 134
4613 4615 4729 4731 0(*1) 16531 0(*1) 16778 0(*1) 16771
(*1) Standard setting
Note)
Please ask the parameters for other motor models to our sales engineers, if you need.
#7 #6 #5 #4 #3 #2 #1 #0
MAIN/SUB 4353 LMTDET
LMTDET Selection bit of detection base for load detection level signal (LDT1A and
LDT2A)
0 : The detection base for load detection level signal is that max. output is
100%, regardless of load meter type.
1 : If load meter normalized by cont. rated output is used, the detection base
for load detection level signal is that cont. rated output is 100%.
MAIN 4026 Load detection level 1
SUB 4455 Same as above
Unit of data : 1%
Valid data range : Refer to the following table
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This parameter determines the detection level for load detection signal 1
(LDT1A).
The load detection signal 1 (LDT1A) will become “1”, when the output value
of spindle motor becomes larger than setting value(%).
LMTYPE (N4352#3) 0 1
LDTDET (N4353#3) 0 1 0 1
Cont. rated output

Detection base Max. output (=100%)
(=100%)
1% (If the setting value is negative, the

Unit of data 1%
unit becomes 0.1%.)
Valid data range -1000∼100 0∼32767
Standard setting 83
4027 Load detection level 2

Unit of data : 1%
Valid data range : Refer to the following table
This parameter determines the detection level for load detection signal 2
(LDT2A).
The load detection signal 2 (LDT2A) will become “1”, when the output value
of spindle motor becomes larger than setting value(%).
LMTYPE (N4352#3) 0 1
LDTDET (N4353#3) 0 1 0 1
Cont. rated output

Detection base Max. output (=100%)
(=100%)
1% (If the setting value is negative, the

Unit of data 1%
unit becomes 0.1%.)
Valid data range -1000∼100 0∼32767
Standard setting 95
Note)
When you change this parameter, please turn CNC off/on.
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Addition of parameter table for AC SPINDLE MOTOR αi series

Name FANUC AC SPINDLE MOTOR αi series
PARAMETER MANUAL
Group Name / Outline New, Add Applicable
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction Parameter tables for αiI 6/10000 driven by βiSVSP were (*2)
Correct Oct. 2012
corrected.
Another Parameter tables for the following spindle motor models are Add May 2012
added.
(1) Parameter tables for αiI series (Power up model)
αiI 6/10000, αiI 8/8000, αiI 12/7000
αiI 15/7000, αiI 18/7000, αiI 22/7000
(2) Parameter tables for αiI series driven by βiSVSP
TITLE
Addition of parameter table for
02 Page1 and 7 were modified. (marked *2) AC SPINDLE MOTOR αi series
12.10.02 Li
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1
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1. General
Parameter tables for some motor models of FANUC AC SPINDLE MOTOR αi series are added.
2. Addition of parameter table of spindle motor αi series (Power up model)
Added models
No. Spindle motor Amplifier Model code

αiI6/10000 αiSP 11
1 363
(A06B-1406-Bxxx#xPxx) βi SVSPx-11
αiI8/8000 αiSP 15
2 364
(A06B-1407-Bxxx#xPxx) βi SVSPx-15
αiI12/7000 αiSP 15 365
3
(A06B-1408-Bxxx#xPxx) βi SVSPx-18 369
αiI15/7000
4 αiSP 22 366
(A06B-1409-Bxxx#xPxx)
αiI18/7000
5 αiSP 22 367
αiI22/7000
6 αiSP 26 368
Spindle motor αiI series (Power up model) can be driven by level-up αi series spindle amplifier
(A06B-614x-…) or spindle amplifier for 30i-B series CNC (A06B-6220-…).
No.1, 2 and 3 can be driven by βi SVSP (A06B-6164-Hxxx#H580) also. Please refer item 3 for
details.
Parameter setting method
(1) Load parameters automatically with model code (from 363 to 368).
(2) In case of No.1, 5 and 6, change parameter No.4400 manually according to the parameter
table on the following page.
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AC SPINDLE MOTOR αi series
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Parameter table for αiI series (Power up model)
Motor model αi I 6/10000 αi I 8/8000 αi I 12/7000 αi I 15/7000 αi I 18/7000 αi I 22/7000
Applicable amplifier αi SP11 αi SP15 αi SP15 αi SP22 αi SP22 αi SP26
Model code 363 364 365 366 367 368
Applicable software 9D8A/B 9D8A/B 9D8A/B 9D8A/B 9D8A/B 9D8A/B
series and edition 9DA0/P 9DA0/P 9DA0/P 9DA0/P 9DA0/P 9DA0/P
Low-speed winding
－－－－－－
characteristics
High-speed winding 5.5/7.5/11kW 7.5/11/15kW 11/15/18.5kW 15/18.5/25kW 18.5/22/30kW 22/26/35kW
characteristics 1500/10000min-1 1500/8000min-1 1500/7000min-1 1500/7000min-1 1500/7000min-1 1500/7000min-1
FS30i -A FS0i -D
FS30i -B FS0i Mate-D
4007 4007 00000000 00000000 00000000 00000000 00000000 00000000
4008 4008 00010000 00010000 00010000 00010000 00010000 00010000
4009 4009 00000000 00000000 00000000 00000000 00000000 00000000
4010 4010 00000000 00000000 00000000 00000000 00000000 00000000
4011 4011 00001010 00001010 00001010 00001010 00001010 00001010
4012 4012 10000111 10000010 10000010 10000010 10000111 10000111
4013 4013 00001100 00001100 00001100 00001100 00001100 00001100
4019 4019 00000100 00000100 00000100 00000100 00000100 00000100
4020 4020 10000 8000 7000 7000 7000 7000
4023 4023
4039 4039 0 0 0 0 0 0
4040 4040
4041 4041
4048 4048
4049 4049
4080 4080 16710 20565 16735 24410 18005 15460
4083 4083 30 30 30 30 30 30
4093 4093 0 0 0 0 0 0
4100 4100 1570 1600 1550 1500 1700 1550
4101 4101 100 94 100 100 100 100
4102 4102 2016 1656 1922 1710 1909 1756
4103 4103 0 0 0 0 0 0
4104 4104 3000 6000 3000 5500 1600 1500
4105 4105 0 0 0 0 0 0
4106 4106 6000 20000 10000 5500 5000 5000
4107 4107 0 0 0 0 0 0
4108 4108 0 0 0 0 0 0
4109 4109 25 25 25 25 25 25
4110 4110 603 754 905 794 943 924
4111 4111 261 265 337 305 418 353
4112 4112 200 200 200 200 200 200
4113 4113 690 790 295 304 308 290
4114 4114 0 19200 0 23040 0 23040
4115 4115 100 100 100 100 100 100
4116 4116 6500 8118 5279 5177 4500 5000
4117 4117 90 90 90 90 90 90
4118 4118 100 100 100 100 100 100
4119 4119 527 12 32 31 31 29
4120 4120 0 0 0 0 0 0
4124 4124 0 0 0 0 0 0
4127 4127 240 240 202 200 195 191
4128 4128 6505 117 0 105 0 0
4129 4129 0 0 0 0 0 0
4130 4130 25700 25700 25700 25700 25700 25700
4134 4134 130 130 130 130 130 130
4136 4136 0 0 0 0 0 0
4138 4138 0 0 0 0 0 0
4139 4139 0 0 0 0 0 0
4140 4140 0 0 0 0 0 0
4141 4141 0 0 0 0 0 0
4142 4142 0 0 0 0 0 0
4143 4143 0 0 0 0 0 0
4144 4144 0 0 0 0 0 0
4145 4145 0 0 0 0 0 0
4146 4146 0 0 0 0 0 0
4147 4147 0 0 0 0 0 0
4148 4148 0 0 0 0 0 0
4149 4149 0 0 0 0 0 0
4150 4150 0 0 0 0 0 0
4151 4151 0 0 0 0 0 0
4152 4152 0 0 0 0 0 0
4153 4153 0 0 0 0 0 0
4154 4154 0 0 0 0 0 0
4155 4155 0 0 0 0 0 0
4156 4156 0 0 0 0 0 0
4158 4158 0 0 0 0 0 0
4159 4159 0 0 0 0 0 0
4161 4161 0 0 0 0 0 0
4165 4165 0 0 0 0 0 0
4166 4166 0 0 0 0 0 0
4169 4169 0 0 0 0 0 0
4400 4400 00000001 (*6) 00000001 (*6) 00000001 (*6)
Maximum output during
13.2kW 18.0kW 22.2kW 30.0kW 36.0kW 42.0kW
acceleration
(for PS selection)
(*6) Change parameters manually according to the table after load parameters automatically with the model code.
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3. Addition of parameter table of spindle motor αi series driven by βi SVSP.
Added models
Parameter tables for spindle motor αiI series, αiIp series and αiIT series which can be driven by
βi SVSP (A06B-6164-Hxxx#H580) are added.
Parameter tables of αiI6/10000, αiI8/8000, αiI12/7000 are for the power up model described
in item 2.
Parameter setting method
(1) Load parameters automatically with model code according to the parameter table on the
following pages.
When the motor has model code with round brackets, use model code in brackets.
When the motor has no model code, use model code 300 (400 for motor with speed-range
switching control).
(2) Change parameter manually according to the parameter table.
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Parameter table for αiI series (1/4)
Motor model αi I 0.5/10000 αi I 0.5/10000 αi I 0.5/10000 αi I 1/10000 αi I 1/10000 αi I 1/10000 αi I 1.5/10000 αi I 1.5/10000 αi I 1.5/10000
Applicable amplifier βi SVSPx-7.5 βi SVSPx-11 βi SVSPx-15 βi SVSPx-7.5 βi SVSPx-11 βi SVSPx-15 βi SVSPx-7.5 βi SVSPx-11 βi SVSPx-15
Model code (301) (301) (301) (302) (302) (302) (304) (304) (304)
Applicable software
9D80/A 9D80/A 9D80/A 9D80/A 9D80/A 9D80/A 9D80/A 9D80/A 9D80/A
series and edition
Low-speed winding
－－－－－－－－－
characteristics
High-speed winding 0.55/1.1kW 0.55/1.1kW 0.55/1.1kW 1.5/2.2kW 1.5/2.2kW 1.5/2.2kW 1.1/3.7kW 1.1/3.7kW 1.1/3.7kW
characteristics -1 -1 -1 -1 -1 -1 -1 -1
3000/10000min 3000/10000min 3000/10000min 3000/10000min 3000/10000min 3000/10000min 1500/10000min 1500/10000min 1500/10000min
-1
FS0i -D
FS0i Mate-D
4007 00000000 ← ← 00000000 ← ← 00000000 ← ←
4008 00000000 ← ← 00000000 ← ← 00000000 ← ←
4009 00000000 ← ← 00000000 ← ← 00000000 ← ←
4010 00000000 ← ← 00000000 ← ← 00000000 ← ←
4011 00011000 ← ← 00011001 ← ← 00011001 ← ←
4012 10000010 ← ← 10000010 ← ← 10000010 ← ←
4013 00001100 ← ← 00001100 ← ← 00001100 ← ←
4019 00000100 ← ← 00000100 ← ← 00000100 ← ←
4020 10000 ← ← 10000 ← ← 10000 ← ←
4023
4039 0 ← ← 0 ← ← 0 ← ←
4040
4041
4048
4049
83 85
4080 90 ← ← ← ← ← ←
80(*1) 65(*1)
4083 30 ← ← 30 ← ← 30 ← ←
4093 0 ← ← 0 ← ← 0 ← ←
4100 3400 ← ← 3100 ← ← 1650 ← ←
4101 100 ← ← 100 ← ← 100 ← ←
4102 6500 ← ← 3557 ← ← 2767 ← ←
46 87 60
4103 ← ← ← ← ← ←
0(*1) 0(*1) 0(*1)
4104 3000 ← ← 6000 ← ← 6000 ← ←
4105 0 ← ← 0 ← ← 0 ← ←
4106 7500 ← ← 6000 ← ← 6000 ← ←
4107 0 ← ← 0 ← ← 0 ← ←
4108 0 ← ← 0 ← ← 0 ← ←
4109 25 ← ← 25 ← ← 25 ← ←
4110 2513 (*6) 3142 (*6) 4713 (*6) 1104 (*6) 1380 (*6) 2070 (*6) 900 (*6) 1126 (*6) 1689 (*6)
4111 260 ← ← 102 ← ← 217 ← ←
4112 200 ← ← 200 ← ← 200 ← ←
4113 2077 ← ← 2100 ← ← 1635 ← ←
4114 23040 ← ← 17920 ← ← 0 ← ←
4115 100 ← ← 100 ← ← 100 ← ←
4116 13760 ← ← 10018 ← ← 9598 ← ←
4117 90 ← ← 90 ← ← 90 ← ←
4118 100 ← ← 100 ← ← 100 ← ←
4119 5 ← ← 5 ← ← 5 ← ←
4120 0 ← ← 0 ← ← 0 ← ←
4124 0 ← ← 0 ← ← 0 ← ←
4127 240 ← ← 176 ← ← 404 ← ←
4128 120 ← ← 0 ← ← 115 ← ←
4129 0 ← ← 0 ← ← 0 ← ←
4130 25700 ← ← 25700 ← ← 25700 ← ←
4134 110 ← ← 110 ← ← 110 ← ←
4136 0 ← ← 0 ← ← 0 ← ←
4138 0 ← ← 0 ← ← 0 ← ←
4139 0 ← ← 0 ← ← 0 ← ←
4140 0 ← ← 0 ← ← 0 ← ←
4141 0 ← ← 0 ← ← 0 ← ←
4142 0 ← ← 0 ← ← 0 ← ←
4143 0 ← ← 0 ← ← 0 ← ←
4144 0 ← ← 0 ← ← 0 ← ←
4145 0 ← ← 0 ← ← 0 ← ←
4146 0 ← ← 0 ← ← 0 ← ←
4147 0 ← ← 0 ← ← 0 ← ←
4148 0 ← ← 0 ← ← 0 ← ←
4149 0 ← ← 0 ← ← 0 ← ←
4150 0 ← ← 0 ← ← 0 ← ←
4151 0 ← ← 0 ← ← 0 ← ←
4152 0 ← ← 0 ← ← 0 ← ←
4153 0 ← ← 0 ← ← 0 ← ←
4154 0 ← ← 0 ← ← 0 ← ←
4155 0 ← ← 0 ← ← 0 ← ←
4156 0 ← ← 0 ← ← 0 ← ←
4158 0 ← ← 0 ← ← 0 ← ←
4159 0 ← ← 0 ← ← 0 ← ←
4161 0 ← ← 0 ← ← 0 ← ←
4165 0 ← ← 0 ← ← 0 ← ←
4166 0 ← ← 0 ← ← 0 ← ←
4169 0 ← ← 0 ← ← 0 ← ←
4400
Maximum output
1.32kW 1.32kW 1.32kW 2.64kW 2.64kW 2.64kW 4.44kW 4.44kW 4.44kW
during acceleration
(for PS selection) 2.60kW(*1) 2.60kW(*1) 2.60kW(*1) 2.87kW(*1) 2.87kW(*1) 2.87kW(*1) 6.7kW(*1) 6.7kW(*1) 6.7kW(*1)
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Applicable amplifier βi SVSPx-7.5 βi SVSPx-11 βi SVSPx-15 βi SVSPx-7.5 βi SVSPx-11 βi SVSPx-15
Model code (306) (306) (306) (308) (308) (308)
Applicable software
9D80/A 9D80/A 9D80/A 9D80/A 9D80/A 9D80/A
series and edition
Low-speed winding
－－－－－－
characteristics
High-speed winding 2.2/3.7kW 2.2/3.7kW 2.2/3.7kW 3.7/5.5kW 3.7/5.5kW 3.7/5.5kW
characteristics -1 -1 -1 -1 -1
-1
FS0i -D
FS0i Mate-D
4007 00000000 ← ← 00000000 ← ←
4008 00000000 ← ← 00000000 ← ←
4009 00000000 ← ← 00000000 ← ←
4010 00000000 ← ← 00000000 ← ←
4011 00011001 ← ← 00011001 ← ←
4012 10000010 ← ← 10000010 ← ←
4013 00001100 ← ← 00001100 ← ←
4019 00000100 ← ← 00000100 ← ←
4020 10000 ← ← 10000 ← ←
4023
4039 0 ← ← 0 ← ←
4040
4041
4048
4049
77 60
4080 ← ← ← ←
70(*1) 65(*1)
4083 30 ← ← 30 ← ←
4093 0 ← ← 0 ← ←
4100 1550 ← ← 1600 ← ←
4101 100 ← ← 100 ← ←
4102 2567 ← ← 1967 ← ←
68 75
4103 ← ← ← ←
0(*1) 0(*1)
4104 6000 ← ← 7000 ← ←
4105 0 ← ← 0 ← ←
4106 6000 ← ← 7000 ← ←
4107 0 ← ← 0 ← ←
4108 0 ← ← 0 ← ←
4109 25 ← ← 25 ← ←
4110 758 (*6) 948 (*6) 1422 (*6) 760 (*6) 950 (*6) 1425 (*6)
4111 175 ← ← 200 ← ←
4112 200 ← ← 19400 ← ←
4113 1192 ← ← 1077 ← ←
4114 0 ← ← 0 ← ←
4115 100 ← ← 100 ← ←
4116 9300 ← ← 7950 ← ←
4117 90 ← ← 28250 ← ←
4118 100 ← ← 110 ← ←
4119 8 ← ← 5 ← ←
4120 0 ← ← 0 ← ←
4124 0 ← ← 0 ← ←
4127 202 ← ← 178 ← ←
4128 90 ← ← 0 ← ←
4129 0 ← ← 0 ← ←
4130 25700 ← ← 25700 ← ←
4134 110 ← ← 110 ← ←
4136 0 ← ← 0 ← ←
4138 0 ← ← 0 ← ←
4139 0 ← ← 0 ← ←
4140 0 ← ← 0 ← ←
4141 0 ← ← 0 ← ←
4142 0 ← ← 0 ← ←
4143 0 ← ← 0 ← ←
4144 0 ← ← 0 ← ←
4145 0 ← ← 0 ← ←
4146 0 ← ← 0 ← ←
4147 0 ← ← 0 ← ←
4148 0 ← ← 0 ← ←
4149 0 ← ← 0 ← ←
4150 0 ← ← 0 ← ←
4151 0 ← ← 0 ← ←
4152 0 ← ← 0 ← ←
4153 0 ← ← 0 ← ←
4154 0 ← ← 0 ← ←
4155 0 ← ← 0 ← ←
4156 0 ← ← 0 ← ←
4158 0 ← ← 0 ← ←
4159 0 ← ← 0 ← ←
4161 0 ← ← 0 ← ←
4165 0 ← ← 0 ← ←
4166 0 ← ← 0 ← ←
4169 0 ← ← 0 ← ←
4400
Maximum output
4.44kW 4.44kW 4.44kW 6.6kW 6.6kW 6.6kW
during acceleration
(for PS selection) 6.4kW(*1) 6.4kW(*1) 6.4kW(*1) 7.9kW(*1) 7.9kW(*1) 7.9kW(*1)
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Applicable amplifier βi SVSPx-11 βi SVSPx-15 βi SVSPx-18 βi SVSPx-15 βi SVSPx-18 βi SVSPx-18
Model code 363 (363) (363) 364 (364) 369
Applicable software
9D8A/D (*2) 9D8A/D(*2) 9D8A/D (*2) 9D8A/B 9D8A/B 9D8A/B
series and edition
Low-speed winding
－－－－－－
characteristics
High-speed winding 5.5/7.5/11kW 5.5/7.5/11kW 5.5/7.5/11kW 7.5/11/15kW 7.5/11/15kW 11/15/18.5kW
characteristics -1 -1 -1
1500/10000min 1500/10000min 1500/10000min 1500/8000min
-1
1500/8000min
-1
1500/7000min
-1
FS0i -D
FS0i Mate-D
4007 00000000 ← ← 00000000 ← 00000000
4008 00010000 ← ← 00000000 ← 00010000
4009 00000000 ← ← 00000000 ← 00000000
4010 00000000 ← ← 00000000 ← 00000000
4011 00001010 ← ← 00011010 ← 00001010
4012 10000111 ← ← 10000010 ← 10000010
4013 00001100 ← ← 00001100 ← 00001100
4019 00000100 ← ← 00000100 ← 00000100
4020 10000 ← ← 8000 ← 7000
4023
4039 0 ← ← 0 ← 0
4040
4041
4048
4049
4080 16710 ← ← 75 ← 16735
4083 30 ← ← 30 ← 30
4093 0 ← ← 0 ← 0
4100 1570 ← ← 1600 ← 1550
4101 100 ← ← 100 ← 100
4102 2016 ← ← 1656 ← 1922
4103 0 ← ← 0 ← 0
4104 3000 ← ← 8000 ← 3000
4105 0 ← ← 0 ← 0
4106 6000 ← ← 8000 ← 10000
4107 0 ← ← 0 ← 0
4108 0 ← ← 0 ← 0
4109 25 ← ← 25 ← 25
4110 603 1131 (*6) 1508 (*6) 754 1006 (*6) 1207
4111 261 ← ← 170 ← 337
4112 200 ← ← 200 ← 200
4113 690 ← ← 790 ← 295
4114 0 ← ← 19200 ← 0
4115 100 ← ← 100 ← 100
4116 6500 ← ← 8118 ← 5279
4117 90 ← ← 90 ← 90
4118 100 ← ← 100 ← 100
4119 527 ← ← 12 ← 32
4120 0 ← ← 0 ← 0
4124 0 ← ← 0 ← 0
4127 240 ← ← 176 ← 202
4128 6505 ← ← 117 ← 0
4129 0 ← ← 0 ← 0
4130 25700 ← ← 25700 ← 25700
4134 130 ← ← 130 ← 130
4136 0 ← ← 0 ← 0
4138 0 ← ← 0 ← 0
4139 0 ← ← 0 ← 0
4140 0 ← ← 0 ← 0
4141 0 ← ← 0 ← 0
4142 0 ← ← 0 ← 0
4143 0 ← ← 0 ← 0
4144 0 ← ← 0 ← 0
4145 0 ← ← 0 ← 0
4146 0 ← ← 0 ← 0
4147 0 ← ← 0 ← 0
4148 0 ← ← 0 ← 0
4149 0 ← ← 0 ← 0
4150 0 ← ← 0 ← 0
4151 0 ← ← 0 ← 0
4152 0 ← ← 0 ← 0
4153 0 ← ← 0 ← 0
4154 0 ← ← 0 ← 0
4155 0 ← ← 0 ← 0
4156 0 ← ← 0 ← 0
4158 0 ← ← 0 ← 0
4159 0 ← ← 0 ← 0
4161 0 ← ← 0 ← 0
4165 0 ← ← 0 ← 0
4166 0 ← ← 0 ← 0
4169 0 ← ← 0 ← 0
4400 00000001(*6) ← ←
Maximum output
13.2kW 13.2kW 13.2kW 18.0kW 18.0kW 22.2kW
during acceleration
(for PS selection)
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02 Li Software editions were corrected. (marked *2) AC SPINDLE MOTOR αi series
12.10.02
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Motor model αi I 1/15000 αi I 1/15000 αi I 1/15000 αi I 1.5/20000 αi I 1.5/20000 αi I 2/20000 αi I 3/12000 αi I 3/12000 αi I 3/12000
Applicable amplifier βi SVSPx-7.5 βi SVSPx-11 βi SVSPx-15 β i SVSPx-15 βi SVSPx-18 βi SVSPx-18 βi SVSPx-11 βi SVSPx-15 β i SVSPx-18
Model code (303) (303) (303) 305 (305) (307) 309 (309) (309)
Applicable software
9D8A/B 9D8A/B 9D8A/B 9D80/A 9D80/A 9D80/A 9D80/A 9D80/A 9D80/A
series and edition
Low-speed winding
－－－－－－－－－
characteristics
High-speed winding 1.5/2.2kW 1.5/2.2kW 1.5/2.2kW 1.5/2.2kW 1.5/2.2kW 2.2/3.7kW 3.7/5.5kW 3.7/5.5kW 3.7/5.5kW
characteristics 3000/15000min-1 3000/15000min-1 3000/15000min-1 3000/20000min-1 3000/20000min-1 3000/20000min-1 1500/12000min-1 1500/12000min-1 1500/12000min-1
FS0i -D
FS0i Mate-D
4007 00000000 ← ← 00000000 ← 00000000 00000000 ← ←
4008 00000000 ← ← 00000000 ← 00000000 00000000 ← ←
4009 00000000 ← ← 00000000 ← 00000000 00000000 ← ←
4010 00000001 ← ← 00000001 ← 00000001 00000000 ← ←
4011 00011001 ← ← 00011001 ← 00011001 00011001 ← ←
4012 10000010 ← ← 10000010 ← 10000010 10000010 ← ←
4013 00001100 ← ← 00001100 ← 01010000 00001100 ← ←
4019 00000100 ← ← 00000100 ← 00000100 00000100 ← ←
4020 15000 ← ← 20000 ← 20000 (*6) 12000 ← ←
4023
4039 0 ← ← 0 ← 0 0 ← ←
4040
4041
4048
4049
85
4080 ← ← 14165 ← 19290 (*) 16720 ← ←
80(*1)
4083 30 ← ← 10 ← 10 30 ← ←
4093 0 ← ← 0 ← 0 0 ← ←
4100 3100 ← ← 3250 ← 3200 1500 ← ←
4101 93 ← ← 33 ← 45 87 ← ←
4102 8015 ← ← 7145 ← 6432 3015 ← ←
70
4103 ← ← 75 ← 92 82 ← ←
0(*1)
4104 2000 ← ← 2300 ← 3000 3200 ← ←
4105 0 ← ← 0 ← 0 0 ← ←
4106 7000 ← ← 8700 ← 3000 7500 ← ←
4107 0 ← ← 0 ← 0 0 ← ←
4108 0 ← ← 0 ← 0 0 ← ←
4109 25 ← ← 25 ← 25 25 ← ←
4110 548 (*6) 686 (*6) 1029 (*6) 629 838 (*6) 588 559 838 (*6) 1118 (*6)
4111 102 ← ← 180 ← 175 190 ← ←
4112 200 ← ← 200 ← 200 200 ← ←
4113 1870 ← ← 2227 ← 1800 900 ← ←
4114 0 ← ← 0 ← 0 19200 ← ←
4115 100 ← ← 90 ← 80 100 ← ←
4116 9669 ← ← 10289 ← 16564 7376 ← ←
4117 90 ← ← 90 ← 90 90 ← ←
4118 100 ← ← 100 ← 100 100 ← ←
4119 5 ← ← 5 ← 2 9 ← ←
4120 0 ← ← 0 ← 0 0 ← ←
4124 0 ← ← 0 ← 0 0 ← ←
4127 176 ← ← 176 ← 202 178 ← ←
4128 80 ← ← 73 ← 85 0 ← ←
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 ← ←
4400
Maximum output
5.6kW 5.6kW 5.6kW 13.0kW 13.0kW 20.0kW 13.0kW 13.0kW 13.0kW
during acceleration
(for PS selection) 7.0kW(*1) 7.0kW(*1) 7.0kW(*1)
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SHEET
Parameter table for αiIP series (1/2)
Motor model αi IP 12/6000 αi IP 12/6000 αi IP 12/6000 αi IP 12/8000 αi IP 12/8000 αi IP 12/8000 αi IP 15/6000 αi IP 15/6000
Applicable amplifier βi SVSPx-11 βi SVSPx-15 βi SVSPx-18 βi SVSPx-11 βi SVSPx-15 βi SVSPx-18 βi SVSPx-15 βi SVSPx-18
Model code 407 (407) (407) (407) (407) (407) 408 (408)
Applicable software
9D80/A 9D80/A 9D80/A 9D80/A 9D80/A 9D80/A 9D80/A 9D80/A
series and edition
Low-speed winding 3.7/7.5kW 3.7/7.5kW 3.7/7.5kW 3.7/7.5kW 3.7/7.5kW 3.7/7.5kW 5/9kW 5/9kW
-1
500/1500min
-1
500/1500min
-1
500/1500min
-1
500/1500min
-1
500/1500min
-1
500/1500min
-1
500/1500min
-1
High-speed winding 5.5/7.5kW 5.5/7.5kW 5.5/7.5kW 5.5/7.5kW 5.5/7.5kW 5.5/7.5kW 7.5/9kW 7.5/9kW
-1
750/6000min
-1
750/6000min
-1
750/8000min
-1
750/8000min
-1
750/8000min
-1
750/6000min
-1
750/6000min
-1
FS0i -D
FS0i Mate-D
4007 00000000 ← ← ← ← ← 00000000 ←
4008 00000000 ← ← ← ← ← 00000000 ←
4009 00000000 ← ← ← ← ← 00000000 ←
4010 00000000 ← ← ← ← ← 00000000 ←
4011 00011010 ← ← ← ← ← 00011010 ←
4012 10000010 ← ← ← ← ← 10000010 ←
4013 00001100 ← ← ← ← ← 00001100 ←
4019 00000100 ← ← ← ← ← 00000100 ←
4020 6000 ← ← 8000 (*6) ← ← 6000 ←
4023 125(*2) ← ← 94(*2) ← ← 125(*2) ←
4039 0 ← ← ← ← ← 0 ←
4040
4041
4048
4049
4080 11610 ← ← ← ← ← 16730 ←
4083 30 ← ← ← ← ← 30 ←
4093 243 ← ← ← ← ← 216 ←
4100 750 ← ← ← ← ← 750 ←
4101 100 ← ← ← ← ← 90 ←
4102 1488 ← ← ← ← ← 1431 ←
4103 75 ← ← ← ← ← 65 ←
4104 4000 ← ← ← ← ← 3800 ←
4105 0 ← ← ← ← ← 0 ←
4106 10000 ← ← ← ← ← 11000 ←
4107 0 ← ← ← ← ← 0 ←
4108 0 ← ← ← ← ← 0 ←
4109 25 ← ← ← ← ← 25 ←
4110 815 1222 (*6) 1630 (*6) 815 1222 (*6) 1630 (*6) 1043 1390 (*6)
4111 297 ← ← ← ← ← 326 ←
4112 200 ← ← ← ← ← 200 ←
4113 240 ← ← ← ← ← 270 ←
4114 23040 ← ← ← ← ← 23040 ←
4115 100 ← ← ← ← ← 100 ←
4116 5307 ← ← ← ← ← 5171 ←
4117 90 ← ← ← ← ← 90 ←
4118 100 ← ← ← ← ← 100 ←
4119 40 ← ← ← ← ← 35 ←
4120 0 ← ← ← ← ← 0 ←
4124 0 ← ← ← ← ← 0 ←
4127 164 ← ← ← ← ← 144 ←
4128 105 ← ← ← ← ← 105 ←
4129 0 ← ← ← ← ← 0 ←
4130 25700 ← ← ← ← ← 25700 ←
4134 130 ← ← ← ← ← 130 ←
4136 30 ← ← ← ← ← 30 ←
4138 530 ← ← ← ← ← 560 ←
4139 90 ← ← ← ← ← 100 ←
4140 887 ← ← ← ← ← 1143 ←
4141 0 ← ← ← ← ← 80 ←
4142 6500 ← ← ← ← ← 5000 ←
4143 15000 ← ← ← ← ← 13000 ←
4144 0 ← ← ← ← ← 0 ←
4145 25 ← ← ← ← ← 25 ←
4146 1494 2241 (*6) 2988 (*6) 1494 2241 (*6) 2988 (*6) 2514 3352 (*6)
4147 565 ← ← ← ← ← 816 ←
4148 200 ← ← ← ← ← 200 ←
4149 270 ← ← ← ← ← 280 ←
4150 23040 ← ← ← ← ← 23040 ←
4151 100 ← ← ← ← ← 100 ←
4152 5268 ← ← ← ← ← 5170 ←
4153 90 ← ← ← ← ← 90 ←
4154 100 ← ← ← ← ← 100 ←
4155 0 ← ← ← ← ← 0 ←
4156 0 ← ← ← ← ← 0 ←
4158 110 ← ← ← ← ← 105 ←
4159 0 ← ← ← ← ← 0 ←
4161 25700 ← ← ← ← ← 25700 ←
4165 15 ← ← ← ← ← 34 ←
4166 70 ← ← ← ← ← 70 ←
4169 0 ← ← ← ← ← 0 ←
4400
Maximum output
12.3kW 12.3kW 12.3kW 12.3kW 12.3kW 12.3kW 13.5kW 13.5kW
during acceleration
(for PS selection)
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Parameter table for αiIP series (2/2)
Motor model αi IP 15/8000 αi IP 15/8000 αi IP 18/6000 αi IP 18/6000 αi IP 18/8000 αi IP 18/8000
Applicable amplifier βi SVSPx-15 βi SVSPx-18 βi SVSPx-15 βi SVSPx-18 βi SVSPx-15 βi SVSPx-18
Model code (408) (408) 409 (409) (409) (409)
Applicable software
9D80/A 9D80/A 9D80/A 9D80/A 9D80/A 9D80/A
series and edition
Low-speed winding 5/9kW 5/9kW 6/11kW 6/11kW 6/11kW 6/11kW
-1
500/1500min
-1
500/1500min
-1
500/1500min
-1
500/1500min
-1
500/1500min
-1
High-speed winding 7.5/9kW 7.5/9kW 9/11kW 9/11kW 9/11kW 9/11kW

-1
750/8000min
-1
750/6000min
-1
750/6000min
-1
750/8000min
-1
750/8000min
-1
FS0i -D
FS0i Mate-D
4007 00000000 ← 00000000 ← ← ←
4008 00000000 ← 00000000 ← ← ←
4009 00000000 ← 00000000 ← ← ←
4010 00000000 ← 00000000 ← ← ←
4011 00011010 ← 00011010 ← ← ←
4012 10000010 ← 10000010 ← ← ←
4013 00001100 ← 00001100 ← ← ←
4019 00000100 ← 00000100 ← ← ←
4020 8000 (*6) ← 6000 ← 8000 (*6) ←
4023 94(*2) ← 125(*2) ← 94(*2) ←
4039 0 ← 0 ← 0 ←
4040
4041
4048
4049
4080 16730 ← 75 ← ← ←
4083 30 ← 30 ← ← ←
4093 216 ← 220 ← ← ←
4100 750 ← 740 ← ← ←
4101 90 ← 100 ← ← ←
4102 1431 ← 1261 ← ← ←
4103 65 ← 70 ← ← ←
4104 3800 ← 5500 ← ← ←
4105 0 ← 0 ← ← ←
4106 11000 ← 17000 ← ← ←
4107 0 ← 0 ← ← ←
4108 0 ← 0 ← ← ←
4109 25 ← 25 ← ← ←
4110 1043 1390 (*6) 754 1005 (*6) 754 1005 (*6)
4111 326 ← 225 ← ← ←
4112 200 ← 200 ← ← ←
4113 270 ← 300 ← ← ←
4114 23040 ← 0 ← ← ←
4115 100 ← 100 ← ← ←
4116 5171 ← 5671 ← ← ←
4117 90 ← 90 ← ← ←
4118 100 ← 100 ← ← ←
4119 35 ← 32 ← ← ←
4120 0 ← 0 ← ← ←
4124 0 ← 0 ← ← ←
4127 144 ← 147 ← ← ←
4128 105 ← 105 ← ← ←
4129 0 ← 0 ← ← ←
4130 25700 ← 25700 ← ← ←
4134 130 ← 130 ← ← ←
4136 30 ← 30 ← ← ←
4138 560 ← 500 ← ← ←
4139 100 ← 90 ← ← ←
4140 1143 ← 755 ← ← ←
4141 80 ← 60 ← ← ←
4142 5000 ← 8000 ← ← ←
4143 13000 ← 23000 ← ← ←
4144 0 ← 0 ← ← ←
4145 25 ← 25 ← ← ←
4146 2514 3352 (*6) 1489 1985 (*6) 1489 1985 (*6)
4147 816 ← 476 ← ← ←
4148 200 ← 200 ← ← ←
4149 280 ← 315 ← ← ←
4150 23040 ← 0 ← ← ←
4151 100 ← 100 ← ← ←
4152 5170 ← 5660 ← ← ←
4153 90 ← 90 ← ← ←
4154 100 ← 115 ← ← ←
4155 0 ← 0 ← ← ←
4156 0 ← 0 ← ← ←
4158 105 ← 0 ← ← ←
4159 0 ← 0 ← ← ←
4161 25700 ← 25700 ← ← ←
4165 34 ← 10 ← ← ←
4166 70 ← 77 ← ← ←
4169 0 ← 0 ← ← ←
4400
Maximum output
13.5kW 13.5kW 15.1kW 15.1kW 15.1kW 15.1kW
during acceleration
(for PS selection)
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Parameter table for αiIT series (1/2)
Motor model αi IT 1.5/20000 αi IT 1.5/20000 αi IT 2/20000 αi IT 3/12000 αi IT 3/12000 αi IT 3/12000
Applicable amplifier βi SVSPx-15 βi SVSPx-18 βi SVSPx-18 β i SVSPx-11 βi SVSPx-15 βi SVSPx-18
Model code －－－－－－
Applicable software
－－－－－－
series and edition
Low-speed winding
－－－－－－
characteristics
-1
FS0i -D
FS0i Mate-D
4007 00000000 ← 00000000 00000000 ← ←
4008 00000000 ← 00000000 00000000 ← ←
4009 00000000 ← 00000000 00000000 ← ←
4010 00000001 ← 00000001 00000001 ← ←
4011 00011001 ← 00011001 00011001 ← ←
4012 10000010 ← 10000010 10000010 ← ←
4013 00001100 ← 01010000 00001100 ← ←
4019 00000100 ← 00000100 00000100 ← ←
4020 20000 ← 20000 12000 ← ←
4023
4039 0 ← 0 0 ← ←
4040
4041
4048
4049
4080 14165 ← 19290 16720 ← ←
4083 10 ← 10 30 ← ←
4093 0 ← 0 0 ← ←
4100 3250 ← 3200 1500 ← ←
4101 33 ← 45 87 ← ←
4102 7145 ← 6432 3015 ← ←
4103 75 ← 92 82 ← ←
4104 2300 ← 3000 3200 ← ←
4105 0 ← 0 0 ← ←
4106 8700 ← 3000 7500 ← ←
4107 0 ← 0 0 ← ←
4108 0 ← 0 0 ← ←
4109 25 ← 25 25 ← ←
4110 629 838 588 559 838 1118
4111 180 ← 175 190 ← ←
4112 200 ← 200 200 ← ←
4113 2227 ← 1800 900 ← ←
4114 0 ← 0 19200 ← ←
4115 90 ← 80 100 ← ←
4116 10289 ← 16564 7376 ← ←
4117 90 ← 90 90 ← ←
4118 100 ← 100 100 ← ←
4119 5 ← 2 9 ← ←
4120 0 ← 0 0 ← ←
4124 0 ← 0 0 ← ←
4127 176 ← 202 178 ← ←
4128 73 ← 85 0 ← ←
4129 0 ← 0 0 ← ←
4130 25700 ← 25700 25700 ← ←
4134 110 ← 110 110 ← ←
4136 0 ← 0 0 ← ←
4138 0 ← 0 0 ← ←
4139 0 ← 0 0 ← ←
4140 0 ← 0 0 ← ←
4141 0 ← 0 0 ← ←
4142 0 ← 0 0 ← ←
4143 0 ← 0 0 ← ←
4144 0 ← 0 0 ← ←
4145 0 ← 0 0 ← ←
4146 0 ← 0 0 ← ←
4147 0 ← 0 0 ← ←
4148 0 ← 0 0 ← ←
4149 0 ← 0 0 ← ←
4150 0 ← 0 0 ← ←
4151 0 ← 0 0 ← ←
4152 0 ← 0 0 ← ←
4153 0 ← 0 0 ← ←
4154 0 ← 0 0 ← ←
4155 0 ← 0 0 ← ←
4156 0 ← 0 0 ← ←
4158 0 ← 0 0 ← ←
4159 0 ← 0 0 ← ←
4161 0 ← 0 0 ← ←
4165 0 ← 0 0 ← ←
4166 0 ← 0 0 ← ←
4169 0 ← 0 0 ← ←
4400
Maximum output
13.0kW 13.0kW 20.0kW 13.0kW 13.0kW 13.0kW
during acceleration
(for PS selection)
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Parameter table for αiIT series (2/2)
Motor model αi IT 6/12000 αi IT 6/12000 αi IT 6/12000(*4) αi IT 6/12000(*4) αi IT 8/12000 αi IT 8/12000 αi IT 8/12000(*4) αi IT 8/12000(*4)
Applicable amplifier βi SVSPx-15 βi SVSPx-18 βi SVSPx-15 βi SVSPx-18 βi SVSPx-15 βi SVSPx-18 βi SVSPx-15 βi SVSPx-18
Applicable software
－－－－－－－－
series and edition
Low-speed winding 5.5/7.5kW 5.5/7.5kW 5.5/7.5kW 5.5/7.5kW 7.5/11kW 7.5/11kW 7.5/11kW 5.5/7.5kW
characteristics -1 -1 -1 -1 -1 -1 -1
-1
High-speed winding 5.5/7.5kW 5.5/7.5kW 7.5/11kW 7.5/11kW 7.5/11kW

characteristics -1
4000/12000min 4000/12000min
-1 -1 -1
4000/12000min 4000/12000min 4000/12000min
-1
FS0i -D
FS0i Mate-D
4007 00000000 ← 00000000 ← 00000000 ← 00000000 ←
4008 00000000 ← 00000000 ← 00000000 ← 00000000 ←
4009 00000000 ← 00000000 ← 00000000 ← 00000000 ←
4010 00000001 ← 00000001 ← 00000001 ← 00000001 ←
4011 00011010 ← 00011010 ← 00011010 ← 00011010 ←
4012 10000010 ← 10000010 ← 10000010 ← 10000010 ←
4013 00001100 ← 00001100 ← 00001100 ← 00001100 ←
4019 00000100 ← 00000100 ← 00000100 ← 00000100 ←
4020 12000 ← 12000 ← 12000 ← 12000 ←
4023 333(*2) ← 333(*2) ←
4039 0 ← 0 ← 0 ← 0 ←
4040 6(*3) ← 6(*3) ←
4041 6(*3) ← 6(*3) ←
4048 6(*3) ← 6(*3) ←
4049 6(*3) ← 6(*3) ←
4080 81 ← 58 ← 70 ← 49 ←
4083 30 ← 30 ← 30 ← 30 ←
4093 164 ← 0 ← 176 ← 0 ←
4100 4200 ← 1500 ← 3580 ← 1500 ←
4101 50 ← 71 ← 100 ← 89 ←
4102 4561 ← 2630 ← 3580 ← 1642 ←
4103 70 ← 70 ← 0 ← 77 ←
4104 3000 ← 5500 ← 2300 ← 5000 ←
4105 0 ← 0 ← 0 ← 0 ←
4106 3000 ← 5500 ← 2300 ← 5000 ←
4107 0 ← 0 ← 0 ← 0 ←
4108 0 ← 0 ← 0 ← 0 ←
4109 25 ← 25 ← 25 ← 25 ←
4110 646 861 1131 1508 421 561 566 755
4111 185 ← 353 ← 100 ← 162 ←
4112 200 ← 200 ← 200 ← 200 ←
4113 650 ← 620 ← 980 ← 1090 ←
4114 20480 ← 20480 ← 0 ← 19200 ←
4115 100 ← 100 ← 100 ← 100 ←
4116 10783 ← 8803 ← 11031 ← 8000 ←
4117 90 ← 90 ← 90 ← 90 ←
4118 100 ← 100 ← 100 ← 100 ←
4119 15 ← 527 ← 522 ← 521 ←
4120 0 ← 0 ← 0 ← 0 ←
4124 0 ← 0 ← 0 ← 0 ←
4127 164 ← 164 ← 176 ← 176 ←
4128 95 ← 105 ← 0 ← 0 ←
4129 0 ← 0 ← 0 ← 0 ←
4130 25700 ← 25700 ← 25700 ← 25700 ←
4134 130 ← 130 ← 130 ← 130 ←
4136 30 ← 0 ← 30 ← 0 ←
4138 1500 ← 0 ← 1500 ← 0 ←
4139 71 ← 0 ← 89 ← 0 ←
4140 2630 ← 0 ← 1642 ← 0 ←
4141 70 ← 0 ← 77 ← 0 ←
4142 5500 ← 0 ← 5000 ← 0 ←
4143 5500 ← 0 ← 5000 ← 0 ←
4144 0 ← 0 ← 0 ← 0 ←
4145 25 ← 0 ← 25 ← 0 ←
4146 1131 1508 0 1508 566 754 0 ←
4147 353 ← 0 ← 162 ← 0 ←
4148 200 ← 0 ← 200 ← 0 ←
4149 620 ← 0 ← 1090 ← 0 ←
4150 20480 ← 0 ← 19200 ← 0 ←
4151 100 ← 0 ← 100 ← 0 ←
4152 8803 ← 0 ← 8000 ← 0 ←
4153 90 ← 0 ← 90 ← 0 ←
4154 100 ← 0 ← 100 ← 0 ←
4155 0 ← 0 ← 0 ← 0 ←
4156 0 ← 0 ← 0 ← 0 ←
4158 105 ← 0 ← 0 ← 0 ←
4159 0 ← 0 ← 0 ← 0 ←
4161 25700 ← 0 ← 25700 ← 0 ←
4165 527 ← 0 ← 521 ← 0 ←
4166 58 ← 0 ← 49 ← 0 ←
4169 0 ← 0 ← 0 ← 0 ←
4400
Maximum output
13.0kW 13.0kW 13.0kW 13.0kW 13.2kW 13.2kW 13.2kW 13.2kW
during acceleration
(for PS selection)
TITLE
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1
SHEET
( 9D5A/O(15), 9D5D/C(03), 9D7A/D(04), 9D8A/B(02) )

PARAMETER MANUAL
New, Add Applicable
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
- Revision of spindle software 9D5A/O(15)

Another - Revision of spindle software 9D5D/C(03)
Add 2012.05
- Revision of spindle software 9D7A/D(04)
- Revision of spindle software 9D8A/B(02)
TITLE
( 9D5A/O(15), 9D5D/C(03), 9D7A/D(04),
9D8A/B(02) )
DRAW. No. CUST.
SHEET
( 9D5A/O(15), 9D5D/C(03), 9D7A/D(04), 9D8A/B(02) )
1. Outline

Notes
edition
A06B-6111-Hxxx#H550
16i/18i/21i-B,
A06B-6112-Hxxx#H550
9D5A A06B-6121-Hxxx#H550
edition O(15) A06B-6122-Hxxx#H550
A06B-6111-Hxxx#H553
16i/18i/21i-B,
9D5D A06B-6112-Hxxx#H553
edition C(03) A06B-6121-Hxxx#H553
A06B-6122-Hxxx#H553
A06B-6111-Hxxx#H570
9D7A A06B-6112-Hxxx#H570 30i/31i/32i-A,
αiSP
edition D(04) A06B-6121-Hxxx#H570 Induction/ synchronous spindle motor
A06B-6122-Hxxx#H570
A06B-6141-Hxxx#H580 30i/31i/32i-A，
A06B-6142-Hxxx#H580 16i/18i/21i-B，
9D8A
edition B(02)
0i-D
Contents of modification 9D5A/O 9D5D/C 9D7A/D 9D8A/B

The alpha i series spindle motor model codes for initial
setting have been added. Please refer to the technical report
(B-65280EN/08-16) to know detail information.
TITLE
( 9D5A/O(15), 9D5D/C(03), 9D7A/D(04),
9D8A/B(02) )
DRAW. No. CUST.
SHEET
4. Addition of model codes for AC SPINDLE MOTOR αi series
Spindle motor Amplifier Model code

αiI 1/15000 (A06B-1422-…) αiSP5.5 303
αiI 6/10000 (Power up model) αiSP11 (A06B-614x-H011#H580)
363
(A06B-1406-Bxxx#xPxx) βiSVSP*-11 (A06B-6164-…)
αiI 8/8000 (Power up model) αiSP15 (A06B-614x-H015#H580)
364
(A06B-1407-Bxxx#xPxx) βiSVSP*-15 (A06B-6164-…)
αiI 12/7000 (Power up model) αiSP15 (A06B-614x-H015#H580) 365
(A06B-1408-Bxxx#xPxx) βiSVSP*-18 (A06B-6164-…) 369
αiI 15/7000 (Power up model)
αiSP22 (A06B-614x-H022#H580) 366
αiSP22 (A06B-614x-H022#H580) 367
αiSP26 (A06B-614x-H026#H580) 368
TITLE
( 9D5A/O(15), 9D5D/C(03), 9D7A/D(04),
9D8A/B(02) )
DRAW. No. CUST.
SHEET
(9D90/M(13), 9DA0/P(16))

PARAMETER MANUAL
New, Add Applicable
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Another
Revision of spindle software 9D90/M(13), 9DA0/P(16) Add 2012.05
TITLE
(9D90/M(13),9DA0/P(16)
DRAW. No. CUST.

SHEET
(9D90/M(13),9DA0/P(16))
1. Outline
Software
edition
30i/31i/32i-A，
9D90 A06B-6144-Hxxx#H590 16i/18i/21i-B，
αiSP
edition M(13) A06B-6154-Hxxx#H590 0i-B/C, 0i-D,15i-MB,PMi-D

edition P(16) A06B-6270-Hxxx#H600 Induction/ synchronous spindle motor
Contents 9D90/M 9DA0/P

The alpha i series spindle motor model codes for initial setting have
(1) been added. Please refer to the technical report (B-65280EN/08-16) to
know detail information.
4. Addition of model codes for AC SPINDLE MOTOR αi series
No. Spindle motor Amplifier Model code

1 αiI1/15000 αiSP5.5 303
αiI6/10000（power up model）
2 αiSP11 363
3 αiSP15 364
4 αiSP15 365
5 αiSP22 366
6 αiSP22 367
7 αiSP26 368
TITLE
(9D90/M(13),9DA0/P(16)
DRAW. No. CUST.

SHEET
( 9D5A/16(P), 9D5D/04(D), 9D7A/05(E), 9D8A/03(C) )

PARAMETER MANUAL
New, Add Applicable
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
- Revision of spindle software 9D5A/16(P)

Another - Revision of spindle software 9D5D/04(D)
Add 2012.06
- Revision of spindle software 9D7A/05(E)
- Revision of spindle software 9D8A/03(C)
TITLE
( 9D5A/16(P), 9D5D/04(D), 9D7A/05(E),
9D8A/03(C) )
DRAW. No. CUST.
SHEET
( 9D5A/16(P), 9D5D/04(D), 9D7A/05(E), 9D8A/03(C) )
1. Outline

Notes
edition
A06B-6111-Hxxx#H550
16i/18i/21i-B,
A06B-6112-Hxxx#H550
9D5A A06B-6121-Hxxx#H550
edition 16(P) A06B-6122-Hxxx#H550
A06B-6111-Hxxx#H553
16i/18i/21i-B,
9D5D A06B-6112-Hxxx#H553
edition 04(D) A06B-6121-Hxxx#H553
A06B-6122-Hxxx#H553
A06B-6111-Hxxx#H570
9D7A A06B-6112-Hxxx#H570 30i/31i/32i-A,
αiSP
edition 05(E) A06B-6121-Hxxx#H570 Induction/ synchronous spindle motor
A06B-6122-Hxxx#H570
A06B-6141-Hxxx#H580 30i/31i/32i-A，
A06B-6142-Hxxx#H580 16i/18i/21i-B，
9D8A
edition 03(C)
0i-D
TITLE
( 9D5A/16(P), 9D5D/04(D), 9D7A/05(E),
9D8A/03(C) )
DRAW. No. CUST.
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Contents of modification 9D5A/16 9D5D/04 9D7A/05 9D8A/03

The following data was added as measurable spindle data by SERVO
GUIDE.
TCMD2 : Torque command value in consideration of torque limit.
Generally speaking, spindle motors are used by limited output torque
according to velocity in order to achieve specified output characteristics.
A generally used torque command data TCMD output the value, which
shows the maximum torque value of spindle motor as 100%. Even if
spindle motor outputs specified maximum torque, there are some cases
that TCMD doesn’t show 100%.
In this revision, we prepared data TCMD2, which shows the specified
limited torque value as 100%. We recommend you to use data TCMD2
when you want to know the margin to the limit of torque, for example,
in case of the adjustment of FSSB High-speed rigid tapping.
It’s necessary to prepare SERVO GUIDE 8.10 edition or later in order
to observe data TCMD2.
TITLE
( 9D5A/16(P), 9D5D/04(D), 9D7A/05(E),
9D8A/03(C) )
DRAW. No. CUST.
SHEET
(9D90/N(14), 9DA0/Q(17))

PARAMETER MANUAL
New, Add Applicable
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Another
Revision of spindle software 9D90/N(14), 9DA0/Q(17) Add 2012.06
TITLE
(9D90/N(14),9DA0/Q(17)
DRAW. No. CUST.

SHEET
(9D90/N(14),9DA0/Q(17))
1. Outline
Software
edition
30i/31i/32i-A，
9D90 A06B-6144-Hxxx#H590 16i/18i/21i-B，
αiSP
edition N(14) A06B-6154-Hxxx#H590 0i-B/C, 0i-D,15i-MB,PMi-D

edition Q(17) A06B-6270-Hxxx#H600 Induction/ synchronous spindle motor
Contents 9D90/N 9DA0/Q

When multiple twin drive motors are used, it becomes possible to use
(1)
Multi-axes integrator copy and Preload.
Note). Please refer to the technical report (B-65280EN/08-21) to know detail information.
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(9D90/N(14),9DA0/Q(17)
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SHEET
Spindle Tandem Control (Improvement of Preload and Multi-axes integrator copy)

PARAMETER MANUAL
New, Add Applicable
Correct, Del Date
Basic Function
Optional Addition of the contents for the improvement of the preload and
Add 2012.06
Function Multi-axes integrator copy in Spindle tandem control
Unit
Maintenance
Parts
Notice
Correction
Another
TITLE
Spindle Tandem Control
(Improvement of Preload and Multi-axes integrator copy)
01 2012.06.18 K.Takahashi Newly designed

DRAW. No.
B-65280EN/08-21 CUST.
SHEET
Ed. Date Design. FANUC LTD 1/6
1. Outline ............................................................................................................................................................................... 3
2. Applicable Spindle Amplifier and Spindle Software ............................................................................................... 3
3. I/O Signals (CNC↔PMC) ................................................................................................................................................ 4
4. Parameters ........................................................................................................................................................................ 4
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1. Outline
The following specification was added in Spindle tandem control.
(1) The preload can be applied between plural twin drive motors.
(2) The Preload and Multi-axes integrator copy for plural tandem groups including Twin drive motors can
be switched by a signal.
This manual described about above contents. About other contents for the tandem function, please refer to the
section 5.11, 5.13 in Spindle parameter manual (B-65280EN). And, please refer to TMS11/059 (Twin Drive for
Spindle Motor) about Twin drive control.
NOTE
*1 The following CNC software option are required for this function.
Case of FS30i-A / FS31i-A
- Spindle tandem control
- Spindle simple synchronous control
*) FS32i-A doesn’t support Spindle tandem control.
Case of FS30i-B / FS31i-B / FS32i-B / FS35i-B
- Spindle synchronous control
2. Applicable Spindle Amplifier and Spindle Software

Spindle software
Spindle amplifier drawing Series Edition Usable CNC
A06B-6144-Hxxx#H590 (200V)
9D90 N(14) or later FS30i-A / FS31i-A
A06B-6154-Hxxx#H590 (400V)
A06B-6220-Hxxx#H600 (200V)
A06B-6230-Hxxx#H600 (200V) FS30i -B / FS31i-B
9DA0 Q (17) or later
A06B-6270-Hxxx#H600 (400V) FS32i -B / FS35i-B
A06B-6280-Hxxx#H600 (400V)
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3. I/O Signals (CNC↔PMC)
30i #7 #6 #5 #4 #3 #2 #1 #0
st
1 G306 TDFCANA
nd
2 G310 TDFCANB
rd
3 G314 TDFCANC
th
4 G318 TDFCAND
TDFCANx Preload and Multi-axes integrator copy for plural tandem groups including Twin
drive motors
0 : are valid.
1 : are invalid.
NOTE
Please pay attention to the following points about this signal TDFCANx.
・ As for this signal, the meaning changes by setting of parameter No.4542#3,2. Please refer to the latter
explanataion of No.4542#3,2.
・ When you turn off preload and an multi-axes integrator copy by this signal TDFCANx, you have to
input this signal to all spindle axes related to these functions.
Ex.1) If preload and multi-axes integrator copy are applied to plural twin drive motors, you have to input
this signal TDFCANx to the respective master axis of twin drive motor.
Ex.2) If preload is applied to all spindle axes of plural velocity-tandem pairs (No.4360 of all spindles <>0),
you have to input this signal TDFCANx to all spindle axes.
4. Parameters
30i #7 #6 #5 #4 #3 #2 #1 #0
4541 RVDPOL
RVDPOL Master/slave motor rotation direction for the multi-axes integrator copy
0 : The rotation directions of the master and slave motors are the same (motor
shaft side view).
1 : The rotation directions of the master and slave motors are opposite (motor shaft
side view).
Set this parameter to the slave axis for the multi-axes integrator copy.
30i #7 #6 #5 #4 #3 #2 #1 #0
4542 TDFCS1 TDFCS0
TDFCS1,TDFCS0 Setting for invalidation signal TDFCANx of preload and multi-axes integrator copy
0,0 : The signal TDFCANx is not used.
0,1 : If the signal TDFCANx is “1”, preload becomes invalid.
1,0 : If the signal TDFCANx is “1” , both preload and multi-axes integrator copy
become invalid.
0,1 : Please don’t use this setting. If you use it, it works as the setting (1,0).
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NOTE
Please set No.4542#3,2 according to the following guide line.
- In case of No.4542#3,2=0,0
Please use this setting when plural tandem groups are always connected mechanically and it’s not
necessary to turn OFF/ON preload and multi-axes integrator copy.
- In case of No.4542#3,2=0,1
Please use this setting when there is a possibility that plural tandem groups are intermittently
disconnected mechanically and you want to turn off preload at gear change for example.
- In case of No.4542#3,2=1,0
Please use this setting when there are cases that the plural tandem groups are driven by connected state
and driven by disconnected state. In the disconnected state, it’s possible to turn off both preload and
multi-axes integrator copy.
[The behavior at using TDFCANx depending on different parameter setting]

The following figures show the difference of the behavior at inputting TDFCANx signal depending on the different
parameter setting (No.4542#3,2). In the following examples, we assume that each tandem group is already in tandem
mode, and we show the behavior of only one spindle as example. Therefore, in actual situation, you have to input
TDFCANx to other spindle axes too.
[In case of No.4542#3,2=0,0] The signal (TDFCANx) is neglected.
Excitation status
G306#2 The signal is neglected.

(TDFCANx)
N4360
(Preload) Preload output (Valid)
N4606 (time constant)

Multi-axes
Integrator copy (Invalid) (Valid) (Valid)
[In case of No.4542#3,2=0,1]
Excitation status
G306#2
(TDFCANx)
N4360
(Preload) Preload output
(Invalid)
Multi-axes
Integrator copy (Invalid) (Valid) (Valid)
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[In case of No.4542#3,2=1,0 の場合]
Excitation status
G306#2
(TDFCANx)
N4360
(Preload) Preload output
(Invalid)
Multi-axes
Integrator copy (Invalid) (Valid) (Invalid) (Valid)
30i
4597 Setting for the multi-axes integrator copy
0: The function is invalid.

-1: Please set "-1" to the master axis for the multi-axes integrator copy.
Larger than 0: Please set the number of master axis, which transmits the data, to the slave axis.
(Use a logical spindle number of master axis)
30i
4360 Preload value

Unit of data : ±16384 equivalent to torque command 100%
Please set preload value.
There is a possibility that this parameter suppresses vibration at the stop
caused by backlash.
30i
4606 Preload time constant

Please set a time constant for preload to suppress the mechanical shock at
inputting preload.
If this parameter is 0, the time constatn will be 32msec.
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B-65280EN/08-21 CUST.
SHEET
Change of technical term (Multi-axes integrator copy)

PARAMETER MANUAL
New, Add Applicable
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
The name of control way called “Extended integral copy” in

Another
Spindle tandem control was changed. It becomes “Multi-axes Correct 2012.06
integrator copy”.
TITLE
Change of technical term
(Multi-axes integrator copy)
01 2012.06.26 Y.Morita Newly designed

DRAW. No.
B-65280EN/08-22 CUST.
SHEET
1. Outline
The name of control way called “Extended integral copy” in Spindle tandem control was changed. It becomes “Multi-axes
integrator copy”.
This document shows the changed points in parameter manual.
2. Changed points
I 5.11.6 (2) List of parameters
Parameter No.
Description
30i
4541#6 Master/slave motor rotation direction relationship for the Multi-axes integrator copy
4597 Setting for the Multi-axes integrator copy
I 5.11.6 (3) Detail of parameters
The following parameter needs to be set when an integrator copy is made between
two axes that are driven by spindle simple synchronous control during tandem
drive using four or more spindle motors (Multi-axes integrator copy). For
information about this setting, see also "Additional information 2: Spindle drive
using four or more spindle motors" in Subsection 5.11.9, "Additional Information".
30i #7 #6 #5 #4 #3 #2 #1 #0
4541 RVDPOL
RVDPOL Master/slave motor rotation direction relationship for the multi-axes integrator
copy
0 : The rotation directions of the master and slave motors are the same during spindle
1 : The rotation directions of the master and slave motors are opposite during spindle
Set this parameter for the slave axis for the multi-axes integrator copy.
30i
4597 Setting for the multi-axes integrator copy

Sets the master and slave axes for the multi-axes integrator copy.
0: The function is disabled.
-1: Setting of the master axis: When "-1" is set, the master axis for the
multi-axes integrator copy is used.
Larger than 0: Setting of the slave axis: Specify the master axis number to be received
in data transfer.
(Use a logical spindle number to specify which spindle is to be used as the master axis.)
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I 5.11.9 (2) Additional information 2: Spindle drive using four or more spindle motors
(2) System configuration

The following figure shows an example where the velocity tandem function is applied to a machine that drives the
spindle with four spindle motors using spindle simple synchronous control.
CNC Tandem 11
タンデム
Velocity
速度指令 command (*1)
SP-1 Motor
モータ
sensor Motor
モータ 1 1
(Master)
SP-1
積分項
Integral Velocity
term ＆積分コピー
& integral copy
(*1)
SP-2 Motor
モータ
sensor
センサ
Motor
モータ 2
(Slave)
（ｽﾚｰﾌﾞ）
(*2)
(*2)Signal
信号 (*3)
branching (*3)主軸
Spindle Spindle
分岐アダ主軸
adapter センサ
sensor
プタ
Tandem 22
タンデム
主軸簡易 SP-3 Motor

モータ
センサ Motor 3
Spindle simple sensor モータ 3
同期制御 (ﾏｽﾀ )
(Master)
synchronous Multi-axes
拡張積分 (*1)
control integrator
コピー
copy Velocity tandem
速度タンデム
& integral copy
＆積分コピー
SP-4 Motor
モータ
sensor Motor
モータ 4 4
(ｽﾚｰﾌﾞ )
(Slave) センサ
(*1)
Spindle amplifier - to - spindle (*1)

(*1) 適用可能アンプ
Applicable amplifier: :A06B-6154-Hxxx#H590
A06B-6154-Hxxx#H590
amplifier communication (*2)Signal
(*2) 信号分岐アダプタ
branching adapter:: A06B-6111-H405
A06B-6111-H405
(*3)αiBZ
(*3) αiBZsensor,
センサ、α iCZ センサ（アナログ）、
αiCZ sensor (analog),
α position coder S
αポジションコーダ S
<1> The spindle is driven by four spindle motors.

<2> The master axes SP-1 and SP-3 of the two tandems are controlled by spindle
simple synchronous control.
<3> In this case, the speed integral term can be copied from SP-1 engaged in
spindle simple synchronous control to SP-3. This is called "Multi-axes
integrator copy".
<4> The slave axes SP-2 and SP-4 of the two tandems receive the velocity
command and speed integral term from the master axes SP-1 and SP-3 of the
tandems and use the received values as their own velocity command and
velocity integral term (velocity tandem control).
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(3) Block diagram
The following figure shows a control block diagram applicable when this function operates using four spindle
motors.
<1> The velocity command from the CNC are passed to SP1 and SP3. The soft start/stop function limits the specified
acceleration rate to reduce the mechanical shock, and SP1 and SP3 pass the limited command to SP2 and SP4,
respectively. Then, each motor exerts velocity control.
<2> SP2 and SP3 receive the integral term from SP1, and SP4 receives the integral term from SP3. They add the
received integral term to the proportional term to create a torque command.
<3> Each SP adds the set preload value to this torque command to create a final torque command.
Velocity feedback
(CNC) (SP1)
SOCNA=1 － Torque
Velocity command command [%]
soft start/stop ＋ Velocity loop Torque
N4030 limit Motor
P/I ＋ﾓｰﾀ
＋
Velocity Velocity integral
command term (I)
Determination of polarity (N4353#2) SLVA
& SLVB
communication
Velocity ＋＋
command Preload
ESSYC3 ESSYC3 N4360
& SLVA SLVA
SLVA & SLVB
& SLVC & SLVB ＋
ﾄﾙｸ
limit Motor
ﾓｰﾀ
P only ﾘﾐｯﾄ
＋ Torque
Multi-axes integrator copy
command [%]
Velocity feedback
Spindle
Velocity feedback
(SP3)
SOCNC=1
－ Torque
soft start/stop ＋ command [%]
N4030
P only Motor
limit
＋
Determination of ＋
polarity(N4541#6) Velocity Velocity integral
command term (I) Preload
N4360
Determination of polarity (N4353#2) SLVC
& SLVD
communication
Velocity ＋＋ Preload
command N4360
SLVC
& SLVD
SLVC ＋
& SLVD
Motor
P only limit
＋ Torque
－ command [%]
Velocity feedback
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(5) Setting examples of the parameters related to the integral copy
When the spindle is driven by four velocity tandems (eight motors) as shown in the following figure, the settings
related to the velocity integral copy are to be made as indicated by the examples given below.
SP N4398#5,4,3 N4353#2 N4541#6 N4597 Remarks
SP-1 1,1,0 1 0 -1 Spindle simple synchronous control (+ multi-axes
integrator copy) master axis
Velocity tandem 1 (+ integrator copy) master axis
SP-2 1,1,0 - 0 0 Velocity tandem 1 (+ integrator copy) slave axis
SP-3 1,1,0 1 0 1 Spindle simple synchronous control (+multi-axes
integrator copy) slave axis
CNC Tandem
タンデム11
Velocity
速度指令command (*1)
Motor
SP-1 モータ Motor 1
(Master) sensor モータ 1
SP-1 Velocity tandem
速度タンデム
Integral
積分項
& integral copy
＆積分コピー
term (*1)
SP-2 Motor
モータ Motor 2
sensor モータ 2
(Slave)
(*2) Signal
(*2)信号分
branching
Tandem
タンデム22 岐アダプタ
adapter
(*1)
SP-3 Motor
モータ Motor 3
sensor モータ 3
(Master)
Velocity
Multi-axes integrator copy
& integral copy

＆積分コピー
主拡 (*1)
軸 SP-4 Motor
モータ Motor 4
張 sensor モータ 4
((Slave)
簡積
易分 Signal branching
同コ信号分岐回路 Spindle sensor
circuit 主軸センサ Spindle
期（ﾊｲﾃﾞﾝﾊｲﾝ (Heidenhain) 主軸
ピ (Heidenhain (ﾊｲﾃﾞﾝﾊｲﾝ)
制 IBV606）
ー Tandem
タンデム33
IBV606）
御
(*1)
SP-5 Motor
モータ Motor 5
sensor モータ 5
(Master)
Velocity
& integral copy
＆積分コピー
(*1)
SP-6 Motor
モータ Motor 6
(Slave) sensor モータ 6
(*2) Signal
(*2)信号分
branching
Tandem
adapter
(*1)
SP-7 Motor
モータ Motor 7
sensor モータ 7
(Master)
速度タンデム
Velocity tandem
＆積分コピー
& integral copy
(*1)
SP-8 Motor
モータ Motor 8
((Slave) sensor モータ 8
(*1)
(*1)適用可能アンプ : A06B-6154-Hxxx#H590
Applicable amplifier: A06B-6154-Hxxx#H590
Spindle amplifier - to - spindle
amplifier communication (*2) Signal branching: A06B-6111-H405
(*2)信号分岐アダプタ adapter: A06B-6111-H405
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Revision of Spindle Software (for speed sensor-less motors)
(9D60/H)

PARAMETER MANUAL
New, Add Applicable
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Another
Revision of spindle software 9D60/H Add 2012.06
TITLE
Revision of Spindle software
(for speed sensor-less motors)
( 9D60/H)
DRAW. No. CUST.
Ed. Date Design. FANUC CORPORATION

SHEET
1/2
Revision of Spindle Software (for speed sensor-less motors)
(9D60/H)
1. General
Spindle software for speed sensor-less motors was revised as follows.
Software Series and

Amplifier specification
specification edition
βiSVSPC A06B-6167-Hxxx#H560
9D60 βiSVSP A06B-6165-Hxxx#H560
A06B-6116-H560
edition H(08) βiSVSP A06B-6134-Hxxx#C
αCi(SPMC) A06B-6116-Hxxx#H560
Power consumption monitor function was added. Please refer to 「FANUC Series 0i-MODEL
D/FANUC Series 0i Mate-MODEL D Power consumption monitor Specifications」 (A-93067) for
detail.
TITLE
Revision of Spindle software
(for speed sensor-less motors)
( 9D60/H)
DRAW. No. CUST.
Ed. Date Design. FANUC CORPORATION

SHEET
2/2
(9D5A/17(Q), 9D5D/05(E), 9D7A/06(F), 9D8A/04(D))

PARAMETER MANUAL
New, Add Applicable
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
- Revision of spindle software 9D5A/17(Q)

Another - Revision of spindle software 9D5D/05(E)
Add 2012.10
- Revision of spindle software 9D7A/06(F)
- Revision of spindle software 9D8A/04(D)
TITLE
( 9D5A/17(Q), 9D5D/05(E), 9D7A/06(F),
9D8A/04(D) )
DRAW. No. CUST.
1
01 12.10.02 Li Newly designed B-65280EN/08-2４
SHEET
( 9D5A/17(Q), 9D5D/05(E), 9D7A/06(F), 9D8A/04(D) )
1. Outline

Notes
edition
A06B-6111-Hxxx#H550
16i/18i/21i-B,
A06B-6112-Hxxx#H550
9D5A A06B-6121-Hxxx#H550
edition 17(Q) A06B-6122-Hxxx#H550
A06B-6111-Hxxx#H553
16i/18i/21i-B,
9D5D A06B-6112-Hxxx#H553
edition 05(E) A06B-6121-Hxxx#H553
A06B-6122-Hxxx#H553
A06B-6111-Hxxx#H570
9D7A A06B-6112-Hxxx#H570 30i/31i/32i-A,
αiSP
edition 06(F) A06B-6121-Hxxx#H570 Induction/ synchronous spindle motor
A06B-6122-Hxxx#H570
A06B-6141-Hxxx#H580 30i/31i/32i-A，
A06B-6142-Hxxx#H580 16i/18i/21i-B，
9D8A
edition 04(D)
0i-D
(1) The model code 363 is available for amplifier βiSVSP, and description of model code 363 in
technical report B-65280JA/08-16 is corrected as following table.
Amplifier Uncorrected Corrected
Applicable software
series and edition of βiSVSP 9D8A edition 02(B) or later 9D8A edition 04(D) or later
model code 363
Please refer to technical report B-65280EN/08-16 (edition 02) for detail information.
TITLE
( 9D5A/17(Q), 9D5D/05(E), 9D7A/06(F),
9D8A/04(D) )
DRAW. No. CUST.
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SHEET
(2) The βi series spindle motor model codes for initial setting have been added.
Model code Motor Amplifier

1 347 βiSVSP*-7.5
2 348 βiSVSP*-11
βiP 12/6000
3 349 βiSVSP*-15
4 370
βiSVSP*-18
5 371 βiI 3/6000
Please refer to technical report B-65280EN/08-25 for detail information.
(3) The parameter lists for αi series spindle motors with βiSVSP*-18 amplifier are added.
Motor Amplifier
1 αiI 0.5/10000
2 αiI 1/10000
3 αiI 1.5/10000
βiSVSP*-18
4 αiI 2/10000
5 αiI 3/10000
6 αiI 1.5/15000
Please refer to technical report B-65280EN/08-25 for detail information.
TITLE
( 9D5A/17(Q), 9D5D/05(E), 9D7A/06(F),
9D8A/04(D) )
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SHEET
Addition of parameter tables and model codes for AC SPINDLE MOTOR αi series

Name FANUC AC SPINDLE MOTOR αi series
PARAMETER MANUAL
Group Name / Outline New, Add Applicable
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Another (1) Parameter tables for spindle motor αiI series driven Add Oct. 2012
by βiSVSPx-18 are added.
(2) Model codes for spindle motor βiI series are added.
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Addition of parameter tables and model
codes for AC SPINDLE MOTOR αi series
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1. General
Parameter tables for spindle motor αiI series driven by βiSVSPx-18 and model codes for spindle
motor βiI series are added.
2. Parameter tables for spindle motor αiI series driven by βiSVSPx-18(addition)
Motor model αi I 0.5/10000 αi I 1/10000 αi I 1.5/10000 αi I 2/10000 αi I 3/10000 αi I 1/15000
Applicable amplifier β i SVSPx-18 β i SVSPx-18 βi SVSPx-18 βi SVSPx-18 β i SVSPx-18 βi SVSPx-18
Model code (301) (302) (304) (306) (308) (303)
Applicable software
9D80/A 9D80/A 9D80/A 9D80/A 9D80/A 9D8A/B
series and edition
Low-speed winding
－－－－－－
characteristics
-1
FS0i -D
FS0i Mate-D
4007 00000000 00000000 00000000 00000000 00000000 00000000
4008 00000000 00000000 00000000 00000000 00000000 00000000
4009 00000000 00000000 00000000 00000000 00000000 00000000
4010 00000000 00000000 00000000 00000000 00000000 00000001
4011 00011000 00011001 00011001 00011001 00011001 00011001
4012 10000010 10000010 10000010 10000010 10000010 10000010
4013 00001100 00001100 00001100 00001100 00001100 00001100
4019 00000100 00000100 00000100 00000100 00000100 00000100
4020 10000 10000 10000 10000 10000 15000
4023
4039 0 0 0 0 0 0
4040
4041
4048
4049
83 85 77 60 85
4080 90
80(*1) 65(*1) 70(*1) 65(*1) 80(*1)
4083 30 30 30 30 30 30
4093 0 0 0 0 0 0
4100 3400 3100 1650 1550 1600 3100
4101 100 100 100 100 100 93
4102 6500 3557 2767 2567 1967 8015
46 87 60 68 75 70
4103
0(*1) 0(*1) 0(*1) 0(*1) 0(*1) 0(*1)
4104 3000 6000 6000 6000 7000 2000
4105 0 0 0 0 0 0
4106 7500 6000 6000 6000 7000 7000
4107 0 0 0 0 0 0
4108 0 0 0 0 0 0
4109 25 25 25 25 25 25
4110 6283 (*6) 2760 (*6) 2250 (*6) 1895 (*6) 1900 (*6) 1370 (*6)
4111 260 102 217 175 200 102
4112 200 200 200 200 19400 200
4113 2077 2100 1635 1192 1077 1870
4114 23040 17920 0 0 0 0
4115 100 100 100 100 100 100
4116 13760 10018 9598 9300 7950 9669
4117 90 90 90 90 28250 90
4118 100 100 100 100 110 100
4119 5 5 5 8 5 5
4120 0 0 0 0 0 0
4124 0 0 0 0 0 0
4127 240 176 404 202 178 176
4128 120 0 115 90 0 80
4129 0 0 0 0 0 0
4130 25700 25700 25700 25700 25700 25700
4134 110 110 110 110 110 110
4136 0 0 0 0 0 0
4138 0 0 0 0 0 0
4139 0 0 0 0 0 0
4140 0 0 0 0 0 0
4141 0 0 0 0 0 0
4142 0 0 0 0 0 0
4143 0 0 0 0 0 0
4144 0 0 0 0 0 0
4145 0 0 0 0 0 0
4146 0 0 0 0 0 0
4147 0 0 0 0 0 0
4148 0 0 0 0 0 0
4149 0 0 0 0 0 0
4150 0 0 0 0 0 0
4151 0 0 0 0 0 0
4152 0 0 0 0 0 0
4153 0 0 0 0 0 0
4154 0 0 0 0 0 0
4155 0 0 0 0 0 0
4156 0 0 0 0 0 0
4158 0 0 0 0 0 0
4159 0 0 0 0 0 0
4161 0 0 0 0 0 0
4165 0 0 0 0 0 0
4166 0 0 0 0 0 0
4169 0 0 0 0 0 0
4400
Maximum output during acceleration 1.32kW 2.64kW 4.44kW 4.44kW 6.6kW 5.6kW
（for PS selection） 2.60kW(*1) 2.87kW(*1) 6.7kW(*1) 6.4kW(*1) 7.9kW(*1) 7.0kW(*1)
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3. Model codes for spindle motor βiI series(addition)
Motor model βi I 3/10000 βi IP 12/6000 βi IP 12/6000 βi IP 12/6000 βi IP 12/6000
Applicable amplifier β i SVSPx-18 βi SVSPx-7.5 β i SVSPx-11 β i SVSPx-15 β i SVSPx-18
Model code 371 347 348 349 370
Applicable software
9D8A/D 9D8A/D 9D8A/D 9D8A/D 9D8A/D
series and edition
Low-speed winding
－－－－－
characteristics
High-speed winding 3.7/5.5kW 5.5/7.5kW 5.5/7.5kW 5.5/7.5kW 5.5/7.5kW
-1
750/6000min
-1
750/6000min
-1
750/6000min
-1
750/6000min
-1
FS0i -D
FS0i Mate-D
4007 00000000 00000000 00000000 00000000 00000000
4008 00000000 00010000 00010000 00010000 00010000
4009 00000000 00000000 00000000 00000000 00000000
4010 00010000 00010000 00010000 00010000 00010000
4011 00011001 00001010 00001010 00001010 00001010
4012 10000000 10000000 10000000 10000000 10000000
4013 00001100 00001100 00001100 00001100 00001100
4019 00000100 00000100 00000100 00000100 00000100
4020 10000 6000 6000 6000 6000
4023
4039 0 0 0 0 0
4040
4041
4048
4049
4080 13412 18000 18000 18000 18000
4083 30 30 30 30 30
4093 0 0 0 0 0
4100 1700 800 800 800 800
4101 90 78 78 78 78
4102 2154 1059 1059 1059 1059
4103 72 0 0 0 0
4104 2500 5000 5000 5000 5000
4105 0 0 0 0 0
4106 6600 11000 11000 11000 11000
4107 0 0 0 0 0
4108 0 0 0 0 0
4109 25 25 25 25 25
4110 2872 927 1159 1738 2318
4111 318 403 403 403 403
4112 200 200 200 200 200
4113 850 780 780 780 780
4114 21760 20480 20480 20480 20480
4115 100 100 100 100 100
4116 7978 6000 6000 6000 6000
4117 90 90 90 90 90
4118 100 100 100 100 100
4119 11 12 12 12 12
4120 0 0 0 0 0
4124 0 0 0 0 0
4127 164 150 150 150 150
4128 120 0 0 0 0
4129 0 0 0 0 0
4130 25700 25700 25700 25700 25700
4134 110 110 110 110 110
4136 0 0 0 0 0
4138 0 0 0 0 0
4139 0 0 0 0 0
4140 0 0 0 0 0
4141 0 0 0 0 0
4142 0 0 0 0 0
4143 0 0 0 0 0
4144 0 0 0 0 0
4145 0 0 0 0 0
4146 0 0 0 0 0
4147 0 0 0 0 0
4148 0 0 0 0 0
4149 0 0 0 0 0
4150 0 0 0 0 0
4151 0 0 0 0 0
4152 0 0 0 0 0
4153 0 0 0 0 0
4154 0 0 0 0 0
4155 0 0 0 0 0
4156 0 0 0 0 0
4158 0 0 0 0 0
4159 0 0 0 0 0
4161 0 0 0 0 0
4165 0 0 0 0 0
4166 0 0 0 0 0
4169 0 0 0 0 0
4400
Maximum output during acceleration 6.1kW 8.3kW 8.3kW 8.3kW 8.3kW
（for PS selection）
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The alarms about incorrect setting of spindle parameters alarm (SP9034, SP9068)

PARAMETER MANUAL
New, Add Applicable
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Another Detail of the alarm about incorrect settings of spindle

Add 2012.10
parameters (SP9034, SP9068) is added
TITLE
The alarms about incorrect setting
of spindle parameters
(SP9034, SP9068)
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The alarms about incorrect setting of spindle parameters (SP9034, SP9068)
1. Outline
There are plural causes in the alarms about incorrect setting of spindle alarm (SP9034, SP9068).
We inform the method to identify the cause of the alarms as follows
2. The cause of Illegal parameter alarm (SP9034)
The parameter number which causes of Illegal parameter alarm (SP9034) can be known in the
diagnosis screen. Please confirm the parameter setting range of it, and change it to the appropriate
value.
Diagnosis No.
Description
FS30i /FS0i-D
720 Parameter internal data No.
NOTE) Parameter internal data No. is not the number displayed on CNC. Please check appendix A ：
SPINDLE PARMETER TABLE.
3. The cause of Illegal spindle parameter alarm (SP9068)
Illegal spindle parameter alarm (SP9068) occurs with the spindle state errors at the same time.
The cause of alarm. The diagnosis screen checked the spindle state error No..
Diagnosis No.
Description
FS30i /FS0i-D
710 State error No.
State
Description Cause and countermeasure
error No.
The following functions can’t be used at applying
Increment system IS-D (No.4005#1,0=1,0).
z Spindle orientation
z Servo mode control (for example, Rigid tapping)
z Spindle synchronous control
z Learning control
z Spindle tandem control
z Synchronous built-in spindle motor control or
Increment system IS-D: Function spindle non-HRV control (not No.4012#7,6=1,0)
52
setting error z Spindle amplifier communication (not
No.4352#7,6=0,0)
z Spindle backlash acceleration function
(No.4402#0=1)
z Cs contouring control by customer’s board
SP9068 will occur when Increment system IS-D is
used with above functions.
Please check parameter settings and ladder
program.
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(SP9034, SP9068)
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State
Description Cause and countermeasure
error No.
Following two functions using the FSSB
communication can’t be used together. SP9068 will
FSSB communication: Function occur when the settings for two functions are done.
54
setting error z FSSB high-speed rigid tapping (No.4549#1=1).
z EGB function (FSSB type) (No.4549#2=1).
Please check parameter settings.
When reference position return in servo mode is
executed with using optimum orientation, it is
Reference position return in
necessary to set a value except 0 in reference
57 servo mode with optimum
position return speed (No.4074). SP9068 will occur if
orientation: Setting error
the setting value of No.4074 is 0.
Please check the parameter setting.
There is the safety speed monitoring function using
spindle speed in the Dual check safety. With the
following spindle sensor conditions, this function is
not usable.
Dual check safety: Setting error
58 z No spindle sensor (No.4002#3,2,1,0=0,0,0,0)
of spindle speed check
z Using αi position coder
(No.4002#3,2,1,0=0,0,1,0)
Please use suitable spindle sensor or please check
parameter settings.
When least setting unit 1/32768rev for the stop
position of Spindle orientation (No.4542#0=1) is
used, SP9068 will occur in the following state.
z CNC software does not support least setting unit
1/32768rev.
Least setting unit 1/32768rev for
Please check series and edition of CNC
59 the stop position of Spindle
software.
orientation Setting error
z Spindle orientation during spindle
synchronization control is enable
(No.4014#6=1).
It cannot be used it together with this function.
Please check parameter settings.
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(SP9034, SP9068)
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Output power limitation in spindle motor

PARAMETER MANUAL
New, Add Applicable
Correct, Del Date
Addition of the output power limitation parameter for

Basic Function Add 2012.10
Low-speed winding
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Another
TITLE
Output power limitation

in spindle motor
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Spindle motor output power limitation
1. Outline
It is possible to limit output power in spindle motor depending on the demand of customers. But
only one common setting can be used even if you use the motor with speed range switching control
as the output power limitation parameter.
So we added output power limitation parameter for Low-speed winding. Therefore output power
limitation can be set for High-speed winding and Low-speed winding separately.
2. Series and editions of applicable spindle software

9D90 P (16) edition or later FS0i- D , FS30i / FS31i / FS32i-A
9DA0 S (19) edition or later FS0i- D , FS30i / FS31i / FS32i-B, FS35i-B
3. Parameter
3.1. Parameter list
Parameter No. Contents

30i/0i
4028(L) Output power limitation pattern(MAIN/High-speed, MAIN/Low-speed)
4028(H) Output power limitation pattern(MAIN/Low-speed) 【NEW】
4202(L) Output power limitation pattern(SUB/High-speed, SUB/Low-speed)
4202(H) Output power limitation pattern(SUB/Low-speed) 【NEW】
4029 Output power limitation value(MAIN/High-speed, MAIN/Low-speed)
4626 Output power limitation value(MAIN/Low-speed) 【NEW】
4203 Output power limitation value(SUB/High-speed, SUB/Low-speed)
4732 Output power limitation value(SUB/Low-speed) 【NEW】
NOTE
“[H]” and ”[L]” suffix of parameter number show the upper byte and lower byte of parameter No.
xxxx. (See below figure)。
Upper byte Lower byte
No.xxxx [H] [L]
16bits data
Example:
Assume that
No.4028[L] ： Output power limitation pattern(MAIN/High-speed) =3
No.4028[H] ： Output power limitation pattern(MAIN/Low-speed) =5
The setting value of parameter No. 4028 becomes as follows:
×
No.4028 = 5 256+3 = 1283
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There are nine patterns depending on the combination of output curve form and applicable range. For the pattern
selection, the following parameters are used.
30i, 0i
4028(L) Output power limitation pattern (MAIN/High-speed, MAIN/Low-speed)
4028(H) Output power limitation pattern (MAIN/Low-speed) 【NEW】
4202(L) Output power limitation pattern (SUB/High-speed, SUB/Low-speed)
4202(H) Output power limitation pattern (SUB/Low-speed) 【NEW】
Unit of data : -
Valid data range : 0 to 9 (No.4028(L),No.4202(L)) ,(0~9) × 256 (No.4028(H), No.4202(H))
When Low-speed parameter is set as No.4028(H)/No.4202(H)=0,
No.4028(L)/No.4202(L) are used both for High-speed winding and Low-speed
winding.
Select an appropriate pattern from the following:

Setting data
Output curve form
Output curve Output curve Output curve
Applicable range of output power limitation form 1 form 2 form 3
No limitation 0 0 0
A.Output power is limited only at acc./dec. to achieve gradual
acceleration, and the rated output power is used for stable 1 4 7
rotation.
B.Output power is not limited at acc./dec., but output power is
2 5 8
limited in stable rotation.
C.Output power is always limited.
(This is used to achieve different output specification by using 3 6 9
the same motor and amplifier.)
[Output curve form 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
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Output
Pm Catalog value
Pout Limit value
0 Speed
0 Nb Nm
Setting in parameter No.4029

Pout = × Pm
100

Output
Pm Catalog value
Limit value
0 Speed
0 Nb Nout Nm
100
Nout = × Nb
Setting in parameter No.4029
Output power limitation value should be set in the following parameters.

30i, 0i
4029 Output power limitation value (MAIN/High-speed, MAIN/Low-speed)
4626 Output power limitation value (MAIN/Low-speed) 【NEW】
4203 Output power limitation value (SUB/High-speed, SUB/Low-speed)
4732 Output power limitation value (SUB/Low-speed) 【NEW】
Unit of data : 1%
Standard setting value : 100(No.4029, No.4203),0(No.4626, No.4732)
When Low-speed parameter is set as No.4026/No.4732=0, No.4029/No.4203
are used both for High-speed winding and Low-speed winding.
A desired limitation value should be set in this parameter, and 100% means the
maximum output.
These parameters become valid when something value except 0 are set.
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Note
Set following parameters if you want to apply power limitation only in High-speed winding or in
Low-speed winding.
In case of applying output power limitation only in High-speed winding
Output power limitation Output power limitation Output power limitation Output power limitation
pattern pattern value value
(High-speed winding) (Low-speed winding) (High-speed winding) (Low-speed winding)
No.4028(L)【MAIN】 No.4028(H)【MAIN】 No.4029【MAIN】 No.4626【MAIN】
No.4202(L)【SUB】 No.4202(H)【SUB】 No.4203【SUB】 No.4732【SUB】
Arbitrary pattern 0 Arbitrary value 100
In case of applying output power limitation only in Low-speed winding
Output power limitation Output power limitation Output power limitation Output power limitation
pattern pattern value value
(High-speed winding) (Low-speed winding) (High-speed winding) (Low-speed winding)
No.4028(L)【MAIN】 No.4028(H)【MAIN】 No.4029【MAIN】 No.4626【MAIN】
No.4202(L)【SUB】 No.4202(H)【SUB】 No.4203【SUB】 No.4732【SUB】
0 Arbitrary pattern 100 Arbitrary value
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(9D90/P(16), 9DA0/S(19))

PARAMETER MANUAL
New, Add Applicable
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Another
Revision of spindle software 9D90/P(16), 9DA0/S(19) Add 2012.10
TITLE
(9D90/P(16),9DA0/S(19)
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(9D90/P(16),9DA0/S(19))
1. Outline
Software
edition
30i/31i/32i-A，
9D90 A06B-6144-Hxxx#H590 16i/18i/21i-B，
αiSP
edition P(16) A06B-6154-Hxxx#H590 0i-B/C, 0i-D,15i-MB,PMi-D

edition S(19) A06B-6270-Hxxx#H600 Induction/ synchronous spindle motor
Contents 9D90/P 9DA0/S

The function to output divided backlash compensation in non-cutting
(1)
mode for Cs contour control has been added.
The warning level parameter for Leakage Detection Function has
(2)
been added.
-
The output power limit parameter for Low-speed winding has been
(3)
added.
(4) Distance coded sensors have been supported.

Note).
Please refer to the technical report (B-65280EN/08-12(02 Edition)) to know detail information of
(1).
Please refer to the technical report (B-65412EN/01-01 or B-65285EN/03-02(04 Edition)) to know
detail information of (2).
Please refer to the technical report (B-65280EN/08-28) to know detail information of (3).
Please refer to the technical report (B-65280EN/08-26) to know detail information of (4).
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(9D90/P(16),9DA0/S(19)
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Parameter Manual: Fanuc Ac Spindle Motor @ Series Fanuc Ac Spindle Motor # Series

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FANUC AC SPINDLE MOTOR @* series

FANUC AC SPINDLE MOTOR #* series

DEFINITION OF WARNING, CAUTION, AND NOTE

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

I. FANUC AC SPINDLE MOTOR αi series

2 EXPLANATION OF OPERATION MODES........................................... 27

2.3.3 FSSB High-speed Rigid Tapping ...........................................................................82

3 I/O SIGNALS (CNC↔PMC) ................................................................ 191

3.1.3 Details of Input Signals ........................................................................................194

4 ADJUSTMENT .................................................................................... 213

5.4.1 Overview ..............................................................................................................268

5.9.5 I/O Signals (CNC↔PMC)....................................................................................314

5.15.5 Example of Adjustment........................................................................................384

II. FANUC AC SPINDLE MOTOR βi series

2 EXPLANATION OF OPERATION MODES......................................... 422

2.2.11 Related Parameters ...............................................................................................425

3 I/O SIGNALS (CNC↔PMC) ................................................................ 440

3.2.1 List of Output Signals...........................................................................................441

4 ADJUSTMENT .................................................................................... 442

5 FUNCTION DESCRIPTIONS .............................................................. 443

5.5.7 Spindle Data Used in Tuning ...............................................................................454

III. FANUC AC SPINDLE MOTOR αCi series

2 EXPLANATION OF OPERATION MODES......................................... 464

2.4.3 System Configuration...........................................................................................499

3 I/O SIGNALS (CNC↔PMC) ................................................................ 519

4 ADJUSTMENT .................................................................................... 523

IV. FANUC BUILT-IN SPINDLE MOTOR BiS series

1.4.4 Related Parameters ...............................................................................................534

2 EXPLANATION OF OPERATION MODES......................................... 552

2.4.2 Overview ..............................................................................................................573

3 I/O SIGNALS (CNC↔PMC) ................................................................ 609

4 ADJUSTMENT .................................................................................... 618

5 FUNCTION DESCRIPTIONS .............................................................. 620

5.8.3 System Configuration...........................................................................................631

V. FANUC SPINDLE MOTOR βiIc series

2 EXPLANATION OF OPERATION MODES......................................... 647

3 I/O SIGNALS (CNC↔PMC) ................................................................ 655

4 ADJUSTMENT .................................................................................... 658

B LIST OF SPINDLE PARAMETER NUMBERS.................................... 695

D LISTS OF ALARMS/STATE ERRORS ............................................... 728

E.2 αCi SERIES SPINDLE .............................................................................. 740

F OBSERVING DATA USING THE SERVO GUIDE .............................. 749

B. Check all connections. (See DESCRIPTIONS.)

C. Prepare and check the PMC ladder program.

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

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

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

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

1.2 SPINDLE SERIAL INTERFACE (OPTIONAL FUNCTION)

1.2.1 Parameters Related to Spindle Serial Output

(a) For Series 16i/18i/21i

⎯ 3701#1 ⎯ Whether to use the serial interface

1.2.2 Automatic Spindle Parameter Initialization

(1) Parameter list

5607#0 4019#7 4019#7 Function for automatically initializing spindle parameters

(2) Procedure for automatic spindle parameter initialization

3133 4133 4133 Model code

1.2.3 Automatic Setting of the Parameter for Specifying the PS

1.2.4 Diagnosis (Diagnosis Screen)

(a) For Series 16i/18i/21i

“FANUC Series 30i/31i/32i-MODEL A CONNECTION MANUAL (FUNCTION) : B-63943EN-1

(1) For Series 16i

(2) For Series 30i