A-90228e 080603

FANUC Series 30i/31i-MODEL A
Gap Control
Specifications
Title
Draw
No.
Ed.
Date
Date
Design
May.22.08
Design.
Description
Apprv.
FANUC Series 30i/31i -MODEL A
Gap Control
A-90228E
page
1/29
Content
1.1
GAP CONTROL ............................................................................................................................................. 4
1.1.1
GAP CONTORL FUNCTION ...................................................................................................................................... 4
Signal............................................................................................................................................................................ 8
Parameter ...................................................................................................................................................................... 9
1.1.2
ADJUSTMENT OF THE GAP CONTROL AXIS ............................................................................................................ 12
Diagnosis .................................................................................................................................................................... 16
Parameter .................................................................................................................................................................... 16
1.1.3
REFERENCE DEFLECTION ..................................................................................................................................... 19
Parameter .................................................................................................................................................................... 20
Alarm.......................................................................................................................................................................... 21
1.1.4
APPROACH........................................................................................................................................................... 22
Parameter .................................................................................................................................................................... 23
1.1.5
GAP CONTROL CHECK FUNCTION ......................................................................................................................... 24
Signal.......................................................................................................................................................................... 25
Parameter .................................................................................................................................................................... 26
Alarm.......................................................................................................................................................................... 28
1.1.6
GAP CONTROL GAIN OVERRIDE ............................................................................................................................ 28
SIgnal.......................................................................................................................................................................... 28
1.2
MACHINE LOCK OF GAP CONTROL ............................................................................................................... 29
Signal.......................................................................................................................................................................... 29
Title
Draw
No.
Ed.
Date
Date
Design
May.22.08
Design.
Description
Apprv.
Gap Control
A-90228E
page
2/29
Gap control
Title
Draw
No.
Ed.
Date
Date
Design
May.22.08
Design.
Description
Apprv.
Gap Control
A-90228E
page
3/29
1.1
Gap control
1.1.1
Gap contorl function
Overview
The machine is equipped with a detector to measure the distance to the
surface of a work piece. An analog signal generated in this detector is sent to
the CNC through a specified interface. This signal enables the gap control in
which the Z-axis is controlled.
Command
Starting and stopping of the gap control are controlled by a DI signal of Gap
control start signal TCST<Gn225.3>.
Block diagram of gap contorl

The block chart of the gap control system is as follows.
Position
control
Motor
Position command
Switching
I/O LINK
Nozzle
Detector
Analog input
module
Gap
control
operation
PMC
Servo
Amp
(A03B-0819
-J063)
TCST
Work piece
Gap start/stop
control
Parameter
Title
Draw
No.
Ed.
Date
Date
Design
May.22.08
Design.
Description
Apprv.
Gap Control
A-90228E
page
4/29
Control axis
The gap control axis is specified by parameter (No.10374) by one axis a path
Polarity of the control axis

In the machine system, the z-axis must moves to part a nozzle by a command
in the positive direction from a work piece and to approach a nozzle a work
piece by a command in the negative direction.
Polarity of detection signal

The detector must show 0V at the standard distance (L0). Output voltage is
proportional to the distance from the reference distance. The voltage is
positive when the nozzle approaches a work piece from a reference distance,
and the voltage is negative when when the nozzle parts from a work piece
from a reference distance.
+10V
Detector
Nozzle
Approaching
side
-2mm
Parting
side
Reference
distance L0.
-10V
+2mm
Position of
reference
distance
Work piece
Title
Draw
No.
Ed.
Date
Date
Design
May.22.08
Design.
Description
Apprv.
Gap Control
A-90228E
page
5/29
Level of the detector signal

Send the detection signal to the analog input module as the direct current
voltage. +10V corresponds to 2mm from the reference distance in the
approaching direction. -10V corresponds to 2mm from the reference distance
in the parting direction.
It is necessary to prepare the gain adjustment circuit when the level of the
detector is not suitable.
Clamp the output on the detector side so that the voltage of 10V or more is
not input to the analog input module.
Resolution of the detector signal

When the voltage of 10V is input corresponding to the deflection of 2mm,
CNC can read the data at the minimum input increment by the gap operation
circuit. (IS-B is 0.001mm.)
Select of level of the detector signal

The amount of deflection to obtain the voltage of 10V is 2mm as the
standard values. However, if longer detection stroke is required, the stroke
can be selected by parameter (No.10381).
Ex)
Deflection
2mm
4mm
6mm
8mm
10mm
Voltage of
the detector signal
10V
10V
10V
10V
10V
Resolution
0.001mm
0.002mm
0.003mm
0.004mm
0.005mm
Performace of the detector

As the linearity of the detector influences the accuracy of the follower, select
the one with as good linearity as possible.
As the frequency response of the detector and the amplifier greatly
influences the response of the gap control system, select the one with as
good frequency response (the bandwidth 30Hz or more) as possible.
Equip a machine with a detector as firmly as possible so that the detector
must not be shook.
Pay enough attention about the rigidity, the lost motion, and the resonance of
the driving system of the gap control axis.
Title
Draw
No.
Ed.
Date
Date
Design
May.22.08
Design.
Description
Apprv.
Gap Control
A-90228E
page
6/29
Feedrate of gap control axis

The feedrate of the gap control axis is given as followings.
Vz=60G(E-E0)
Vc=VzK
Vz : Feedrate of the gap control axis (mm/min)
E: Deflection (mm)
E0 : Reference deflection (mm)
Vc: Traveled distance which is commanded to the motor
K: Coefficient in which the gap control feedrate is converted into
motor rotational feedrate.
G is set as a parameter (No.10400 or No.10401).
K is calculated by CNC using the following parameters.
For the rotation motor
Parameter (No.10397): Machine movement at 1 rotation of motor
For the liner motor
Parameter (No.10398): Magnification of the position detection circuit.
Parameter (No.10399): Wavelength of the separate detector
When the detector does not detect because of parting far from work pieces,
the deflection becomes minus maximum and Vz becomes big value too. So
the nozzle (the detector ) approaches to a work piece at high feedrate. If it is
necessary to control this feedrate, clamp with parameter (No.10402).
Note
1 Do not give a command of the gap control axis in
a program and do not move the gap control axis by
jog or handle when the gap control is running.
2 The following functions cannot be used with the
gap control axis.
(1) Advanced preview feed-forward
Please set 1 at parameter AHx(No.1819#7).
Title
Draw
No.
Ed.
Date
Date
Design
May.22.08
Design.
Description
Apprv.
Gap Control
A-90228E
page
7/29
Signal
Gap control start signal TCST<Gn225.3>
[Classification] Input signal
[Function] Start and stop the gap control.
[Operation] During this signal is 1, the gap control operates.
When this signal is turned off by M code, use an M code without
buffering.
Gap control operating signal TRCL<Fn220.2>

[Classification]
[Function]
[Output condition]
Output signal
It is informed that the gap control is in operation.
The signal turns to 1 in the following case.
After the gap control is started and the nozzle approaches to a work piece,
the distance becomes a prescribed value and the approach is completed.
The condition of stopping the gap control is accepted.
In case that the start/stop of the gap control is done by M code, return FIN
after confirming that the gap control's operating signal TRCL becomes 1"
after making the gap control start signal TCST 1" .
Note
1 Please turn TCST 1 when TRCL is 0, and
please turn TCST 0 when TRCL is 1.
2 Do not turn TCST 1 again when TRCL have not
turned 0 yet, even if you turn TCST 0 when
TRCL is 1.
Signal address
#7
#6
#5
#4
Gn225
Draw
No.
Design
May.22.08
Design.
#1
#0
TRCL
Title
Date
Date
#2
TCST
Fn220
Ed.
#3
Description
Apprv.
Gap Control
A-90228E
page
8/29
Parameter
#7
#6
#5
#4
#3
#2
#1
10373
[Input type]
[Data type]
#0
GPO
GPO
Parameter input
Bit path
Select whether the gap control function is effective or not.
0: The gap control is not available.
1: The gap control is available.
#7
#6
#5
#4
#3
#2
#1
10376
[Input type]
[Data type]
#0
TIV
10375
[Input type]
[Data type]
[Unit of data]
[Valid data range]
TIV
Select axis for the gap control axis
Parameter input
Byte path
0 to24
The gap control axis is selected.
When the value is 0, it is assumed that the third axis is selected.
X address of channel of the detector of the gap control axis
Parameter input
Byte path
0 to127
Specify the X address of the channel of an I/O LINK analog input module
(A03B-0819-J063) for using the detector of the gap control.
Ex) When the analog input module is allocated from X20.
Channel 0 : X20,X21
Channel 1 : X22,X23
Channel 2 : X24,X25
Channel 3 : X26,X27
At this time, set 22 if you connect the detector with channel 1.
Title
Draw
No.
Ed.
Date
Date
Design
May.22.08
Design.
#0
Parameter input
Bit path
Setting of the polarity of deflection of gap control
0: The polarity is not changed when it is read.
1: The polarity is reversed when it is read.
10374
[Input type]
[Data type]
[Unit of data]
[Valid data range]
#0
Description
Apprv.
Gap Control
A-90228E
page
9/29
10397
[Input type]
[Data type]
[Unit of data]
[Minimum unit of data]
[Valid data range]
10398
[Input type]
[Data type]
[Unit of data]
[Valid data range]
Machine movement at 1 rotation of motor
Parameter input
Real axis
mm, inch, degree (machine unit)
Depend on the increment system of the applied axis
0 to 99999999
Specify the machine movement per 1 rotation of the motor for the gap
control axis. This parameter should be set in case of using the rotation motor
for the gap control axis.
The parameters need not to be set except for the gap control axis because
this parameter is used only by the gap control function.
Magnification of the position detection circuit
Parameter input
2-word axis
times
0 to 99999999
Specify the magnification of the position detection circuit installed in the
separate detector of the gap control axis.
This parameter should be set in case of using the linear motor for the gap
control axis.
10399
[Input type]
[Data type]
[Unit of data]
[Valid data range]
Wavelength of the separate detector
Parameter input
2-word axis
m
0 to 99999999
Specify the wavelength of the separate detector of the gap control axis.
This parameter should be set in case of using the linear motor for the gap
control axis.
Title
Draw
No.
Ed.
Date
Date
Design
May.22.08
Design.
Description
Apprv.
Gap Control
A-90228E
page
10/29
10400
[Input type]
[Data type]
[Unit of data]
[Valid data range]
Gap control gain
Parameter input
Word axis
sec-1
0 to 32767
Specify the gap control gain to determine the gap control performance of the
gap control axis.
The gap control feedrate is determined by multiplying the deflection from
the detector by the gap control gain.
10401
[Input type]
[Data type]
[Unit of data]
[Valid data range]
10402
[Input type]
[Data type]
[Unit of data]
[Valid data range]
10403
[Input type]
[Data type]
[Unit of data]
[Valid data range]
Gap control gain at approaching
Parameter input
Word axis
sec-1
0 to 32767
Specify the gap control gain during approaching the gap control axis.
Parameter No.10400 is used in case that this parameter is not set.
Upper limit on feedrate for the approaching side
Parameter input
Real axis
mm/min, inch/min, degree/min (machine unit)
0 to 32767.0
Specify upper limit on feedrate for the approaching.
Upper limit on feedrate for the parting side
Parameter input
Real axis
mm/min, inch/min, degree/min (machine unit)
0 to 32767.0
Specify upper limit on feedrate for the parting.
Title
Draw
No.
Ed.
Date
Date
Design
May.22.08
Design.
Description
Apprv.
Gap Control
A-90228E
page
11/29
1.1.2
Adjustment of the gap control axis
Overview
After connecting the signal from the detector with CNC, please adjust as
followings.
Adjustment of the detector

Adjust the distance between the detector and a work piece so that it becomes
the stroke of the detector + (A standard value is 2mm+). ( is about
0.1mm-0.2mm.)
Under such a condition, the zero of the amplifiers of the detector is adjusted
so that the sensor signal of the detector may become almost 0V.
The detector amplifier is adjusted so that the sensor signal may become
+10V at the position where the detector is moved by the amount
corresponding to the positive stroke of the detector (A standard value is
2mm) in the direction to approach a work.
The detector amplifier is adjusted so that the sensor signal may become -10
V at the position where the detector is moved by the amount corresponding
to the negative stroke of the detector (A standard value is -2 a mm) in the
direction to part a work.
Adjustment CNC for the detector

Select the stroke of the detector by the parameter (No.10381) (the deflection
multiplier).
If the sign of the detector is inverted, set 1 to the parameter TIV
(No.10376#0).
Title
Draw
No.
Ed.
Date
Date
Design
May.22.08
Design.
Description
Apprv.
Gap Control
A-90228E
page
12/29
Setting of detection gain coefficient

The operations to set the detection gain coefficient is performed on
screens of diagnose and parameter.
the
Display diagnose screen

(display deflection (No.5301))
Approach the nozzle for a work

piece in manual operation.
NO
Nozzle
YES
Nozzle
Does the deflection begin to

change at this point?
-10V
Start point
1mm
End point
Write the deflection down as

start point
0V
Work piece
Approach about 1mm for a work

piece by jog or handle.
Parting side
0V
End point
Write the deflection down as

end point
Approaching
side
Start point
1mm
-2mm
-10V
Ke=1[mm]/((start point-end point)2**16

Ke: detection gain coefficient
Calculating detection gain coefficient. Set parameter
(No.10378).
Title
Draw
No.
Ed.
Date
Date
Design
May.22.08
Design.
Description
Apprv.
Gap Control
A-90228E
page
13/29
Ajustment of zero point

The operation to set the zero point is performed on the screens of diagnose
and parameter.
Display diagnose screen
(display deflection (No.53001))
Write the position of gap control

axis at detector 0V as start
point
Approach about 1mm for work

piece by jog or handle.
Is the nozzle positioned at

reference distance?
NO
Nozzle
Position of
0V of detector
YES
Zero compensation value

Ezr
Reference position
Write the position of gap control

axis as end point
Reference distance
L0Standard 2mm
Work piece
Ezr=(Start point-End point)

Ezr: Zero compensation value
Calculate Zero compensation value. Set
parameter (No.10379).
Title
Draw
No.
Ed.
Date
Date
Design
May.22.08
Design.
Description
Apprv.
Gap Control
A-90228E
page
14/29
Calcuration of deflection
As above adjusting, CNC calculates the deflection with the following
formula.
E = (Ke E - Ezr) Emul
E : Calculated deflection
Ke : Detection gain coefficient (parameter No.10378)
E : Detective value from A/D converter.
Ezr : Zero compensation value (parameter No.10379)
Emul: The deflection multiplier (parameter No.10381)
Way of adjustment of gap control gain

There is a parameter of the gap control gain for determining the capability to
follow up of the gap control.
The feedrate of the gap control Vz is calculated as a following formula.
Vz = 60G(E-E0)
Vc = VzK
E: Deflection (mm)
G : gap control gain
Vc : Traveled distance which is commanded to the motor
K : Coefficient in which the gap control feedrate is converted into
To improve the capability to follow up of the gap control, the higher gap
control gain must be set. But if setting gain is too high, the movement of the
gap control is not stable and the system is going to oscillate. So it is
necessary to set the proper gain for stability.
Ways for setting gain
1) Set the standard value of the gap control gain.
2) Part the nozzle from a work pieces more then 100mm.
3) Start the gap control, and the nozzle will approach to a work piece and
stop at where deflection is 0.
4) If the gap control is stable, the nozzle will stop smoothly. If the gap
control is not stable, the nozzle will stop with vibrating.
5) If the gap control is stable, set the larger value to the gain gradually.
And search for the limit of gain by which the nozzle begins to vibrate.
6) Confirm that the gap control is stable when the value that the limit is
multiplied 0.8 is set as gain.
Set Gap control gain to the parameter (No.10400/ No.10401).
Title
Draw
No.
Ed.
Date
Date
Design
May.22.08
Design.
Description
Apprv.
Gap Control
A-90228E
page
15/29
Diagnosis
5300
[Data type]
[[Unit of data]
[Valid data range]
Detection read from detector
Word path
Detection is read from detector.
5301
[Data type]
[Unit of data]
[Valid data range]
Deflection
Real path
The deflection E calculated by the following equation is displayed.
E = (Ke E - Ezr) Emul
E : Calculated deflection
Ke : Detection gain coefficient (parameter No.10378)
E : Detective value from A/D converter.
Ezr : Zero compensation value (parameter No.10379)
Emul: The deflection multiplier (parameter No.10381)
Parameter
10378
[Input type]
[Data type]
[Valid data range]
Detection gain coefficient(Ke)
Parameter input
2-word path
0 to 65535
Specify the gain coefficient of the deflection detector in the gap control.
10379
[Input type]
[Data type]
[Unit of data]
[Valid data range]
Detection zero point(Ezr)
Parameter input
Word path
-32768 to 32767
The zero point calibration value is used to calibrate the zero point of the
deflection detector in the gap control.
Title
Draw
No.
Ed.
Date
Date
Design
May.22.08
Design.
Description
Apprv.
Gap Control
A-90228E
page
16/29
10380
[Input type]
[Data type]
[Unit of data]
[Valid data range]
[Standard setting]
Filter time constant
Parameter input
Word path
msec
0 to 32767 (Must not set to 1)
0
Set the time constant of a filter for eliminating the disturbance component
from the deflection in the gap control.
The upper limit of setting value should be 16. If large value is set, response
of the gap control become worse and the nozzle may collide a work piece in
approaching at worst.
10381
[Input type]
[Data type]
[Unit of data]
[Valid data range]
[Standard setting]
Deflection multiplier(EMUL)
Parameter input
Word path
1 to 5
1
Specify a multiply ratio to allow a large detection amount in the gap control.
Ex)
Setting
1
2
3
4
5
Deflection
2mm
4mm
6mm
8mm
10mm
Title
Draw
No.
Ed.
Date
Date
Design
May.22.08
Design.
Description
Apprv.
Resolution
0.001mm
0.002mm
0.003mm
0.004mm
0.005mm
Gap Control
A-90228E
page
17/29
There are parameters for adjustment as followings. But please set a standard
value ordinarily.
10383
[Input type]
[Data type]
[Unit of data]
[Valid data range]
[Standard setting]
Integral time constant
Parameter input
Word path
msec
0 to 32767
0
The integral time constant is used for deflection integration in the gap
control.
10384
[Input type]
[Data type]
[Unit of data]
[Valid data range]
[Standard setting]
Integral calibration zero width
Parameter input
Real path
0 to 32767.0
0
Set a deflection to disable integration in the gap control. The integration is
not performed when |(deflection specified as a reference value)| <= (integral
calibration zero width).
10385
[Input type]
[Data type]
[Unit of data]
[Valid data range]
[Standard setting]
Integral clamp value
Parameter input
Real path
0 to 32767.0
0
Set the integral clamp value for deflection integration in the gap control.
10386
[Input type]
[Data type]
[Unit of data]
[Valid data range]
[Standard setting]
Phase compensation time constant
Parameter input
Word path
msec
0 to 32767
0 (A value lower than 2 is invalid.)
Set the time constant for deflection phase compensation in the gap control.
10387
[Input type]
[Data type]
[Unit of data]
[Valid data range]
[Standard setting]
Phase compensation gain
Parameter input
Word path
sec-1
0 to 32767
0 (A value lower than 2 is invalid.)
Specify a gain for deflection phase compensation in the gap control.
Title
Draw
No.
Ed.
Date
Date
Design
May.22.08
Design.
Description
Apprv.
Gap Control
A-90228E
page
18/29
1.1.3
Reference deflection
Reference deflection is used for changing the gap value between the nozzle
and work piece.
The feedrate of the gap control Vz is calculated as a following formula.
Vz = 60G(E-E0)
Vc = VzK
E: Deflection (mm)
K : Coefficient in which the gap control feedrate is converted into
When Vz is 0, the deflection E is varied by reference deflection E0.
For example, if E0 changes from 0 to 0.5 mm, the position of the nozzle and
a work piece will change as following diagram.
Detector
Nozzle
Detector
L0
Nozzle
E0 = 0 0.5mm
0.5mm
L0-0.5mm
Title
Draw
No.
Ed.
Date
Date
Design
May.22.08
Design.
Description
Apprv.
Gap Control
A-90228E
page
19/29
Range of setting reference deflection

The range of the reference deflection is limited to the range of the detector
because the gap control function is controlled within deflection. Please use
the reference deflection for fine adjustment.
Also, the lower limit of range is set with the parameter (No.10389) and the
upper limit of range is set with the parameter (No.10390).
Ways for setting reference deflection

Set the parameter No.10388.
Parameter
10388
[Input type]
[Data type]
[Unit of data]
[Valid data range]
[Standard setting]
Parameter input
Real path
-32768.0 to 32767.0
0
Valid data range is determined by the parameters (No.10389, No10390). If
the set value is out of the valid data range, an alarm PS4052 occurs.
Set the reference distance of the gap control from the tip of the quill to a
work piece.
10389
[Input type]
[Data type]
[Unit of data]
[Valid data range]
[Standard setting]
Lower limit on reference deflection
Parameter input
Real path
-32768.0 to 32767.0
0
Specify the minimum value that can be specified as the reference deflection
for the gap control.
If the set value of standard deflection, the parameter (No.10388), is smaller
than this lower limit value, an alarm PS4052 occurs.
Title
Draw
No.
Ed.
Date
Date
Design
May.22.08
Design.
Description
Apprv.
Gap Control
A-90228E
page
20/29
10390
[Input type]
[Data type]
[Unit of data]
[Valid data range]
[Standard setting]
Upper limit on reference deflection
Parameter input
Real path
-32768.0 to 32767.0
1.0
Specify the maximum value that can be specified as the reference deflection
for the gap control.
If the set value of standard deflection, the parameter (No.10388), is bigger
than this limit value, an alarm PS4052 occurs.
Alarm
No
Message
PS4052 Gap control of DATA
ERROR
Content
Setting value for the gap control is out
of range
Title
Draw
No.
Ed.
Date
Date
Design
May.22.08
Design.
Description
Apprv.
Gap Control
A-90228E
page
21/29
1.1.4
Approach
Approach
When the nozzle is far from a work piece and the gap control is started,
the nozzle is approaching for work piece.
Approach feedrate
The feedrate Vz of approach is calculated as a following formula.
Vz = 60G(E-E0)
Vc = VzK
E: Deflection (mm)
K : Coefficient by which the gap control feedrate is converted into
Also, the upper limit of the feedrate can be set by the parameter (No.10402).
Completion of approach
When the gap control is started by the gap control star signal TCST,
the nozzle approaches until the deflection fulfills the condition by the
following formula.
The deflection fulfills the condition by the following formula, the approach
is judged to be completed. And then the gap control operating signal TRCL
is turned to 1.
- APRCH <= E-E0 <= APRCH
E : Deflection (mm)
APRCH: Approach completion detection range (parameter No.10395)
(mm)
When the load of the machine drive system is large, and the machine cannot
reach the approach detection position, the width of the approach completion
detection (the parameter No.10395) should be adjusted.
Check the load of the machine drive system when the approach cannot be
completed by the standard value. Set the little larger value to approach
completion detection (the parameter No.10395) if there is no trouble in the
machine drive system.
If the approach completes is detected even though the nozzle is far from
work piece when the gap control is started, change the approach completion
interval (the parameter No.10396).
This means that the variation of the detector signal on the transitional stage
cannot settle within the approach completion interval time by the disturbance
(machine vibration etc) when the gap control is started.
Title
Draw
No.
Ed.
Date
Date
Design
May.22.08
Design.
Description
Apprv.
Gap Control
A-90228E
page
22/29
Parameter
10395
[Input type]
[Data type]
[Unit of data]
[Valid data range]
[Standard setting]
Approach completin detdection range (APRCH)
Parameter input
Real path
0 to 32767.0
0.05
Set the value of (deflection E - standard deflection E0) that is considered as
approaching completion in the gap control. When the value of (deflection E
- standard deflection E0) stays within this approach completion detection
range for the approach completion interval time or longer, the system
assumes that the approach has been completed.
10396
[Input type]
[Data type]
[Unit of data]
[Valid data range]
[Standard setting]
Approach completion interval
Parameter input
Word path
msec
0 to 32767
500
The timer starts when the amount of (deflection E - standard deflection E0)
of the gap control enters into the approach completion detection width. And
the amount is checked again after the timer set by this parameter elapses. If
the amount is within the approach completion detection width, the approach
is regarded as being finished.
Title
Draw
No.
Ed.
Date
Date
Design
May.22.08
Design.
Description
Apprv.
Gap Control
A-90228E
page
23/29
1.1.5
Gap control check function
Overview
The gap control has the following 2 check functions.
Over deflection alarm

If the nozzle approaches too close to a work piece, an over deflection alarm
occurs, and the machine stops, and an alarm signal TRALM is turned to 1.
Also an alarm PS4060 gap control axis excess error occurs.
The detection level of the over deflection alarm is set by the parameter
No.10391. A set value must be within the detectable range of the detector,
and it also must be considered the amount of overrunning when it is stopped
by the alarm.
When an alarm occurs, release the alarm by pushing the reset button after the
gap control axis is moved in the plus direction by the jog or the handle
operation and the nozzle is separated from a work piece.
Gap control out of range alarm

If the absolute value of (deflection E - standard deflection E0) exceeds a
specified value, alarm signal TRALM and TRERS are turned 1.
1) When the gap control check mode signal TRCKM is 0and
|E-E0|>= EOVRS is detected, an alarm PS4060 gap control axis excess
error occurs and alarm signal TRALM is turned to 0.
EOVRS is set by the parameter (No.10392).
Also, the compensation amount EOVRD (parameter No.10394) can be
added to the detected value of the approaching side (parameter No.10392).
If it is necessary to add the compensation, set 1 at parameter TRS
(No.10382#6). When TRS is 1, the detectable range is as followings.
-EOVRS>=E-E0E-E0>=EOVRS+EOVRD
2) When the gap control check mode signal TRCKM is 1and
|E-E0|>= EOVRS is detected, the alarm is not issued and the operation is
continued.
And the gap control impossible state signal TRERS is 1 until the
(deflection E - standard deflection E0) becomes smaller then EOVRS.
Title
Draw
No.
Ed.
Date
Date
Design
May.22.08
Design.
Description
Apprv.
Gap Control
A-90228E
page
24/29
Signal
Gap control check mode signal TRCKM<Gn225.2>
[Function] Detect whether the (deflection E - standard deflection E0) of the gap
control is over the range of the gap control or not.
[Operation] (1) In case of 0
When the (deflection E - standard deflection E0) of the gap control is
out of the range of the gap control (Parameter No10392), the gap control
is stopped and the gap control alarm TRALM is turned to 1.
(2) In case of 1
While the (deflection E - standard deflection E0) of the gap control
exceeds the range of the gap control (Parameter No10392), the gap control
impossible state signal TRERS is 1
Gapcontrol alarm signal TRALM<Fn220.7>

[Classification]
[Function]
[Output condition]
Output signal
Specify that over deflection alarm or the gap control out of rang alarm is
detected.
- Over deflection alarm of gap control is detected.
- When the gap control check mode signal TRCKM is 1 and the gap
control out of rang alarm is detected.
-Reset button is pushed and then alarms are released.
Gap control impossible state signal TRERS<Fn220.0>

[Classification]
[Function]
[Output condition]
Output signal
Specify that the (deflection E - standard deflection E0) of the gap control is
out of the range of the gap control.
-When gap control check mode signal TRCKM is 1 and the deflection of
the gap control exceeds the parameter (No.10392)
-When gap check mode signal is turned to 0.
-When gap check mode signal is turned to 1 and the deflection of the gap
control does not exceed the parameter (No.10392).
Signal address
#7
#6
#5
#4
G225
F220
TRALM
No.
Design
May.22.08
Design.
#1
#0
TRERS
Draw
Date
Date
#2
TRCKM
Title
Ed.
#3
Description
Apprv.
Gap Control
A-90228E
page
25/29
Parameter
#7
#6
#5
#4
#3
10377
[Input type]
[Data type]
#2
TAL
[Input type]
[Data type]
#6
TRS
10391
[Input type]
[Data type]
[Unit of data]
[Valid data range]
[Standard setting]
10392
[Input type]
[Data type]
[Unit of data]
[Valid data range]
[Standard setting]
#6
#5
#4
Design.
#2
#1
#0
Parameter input
Bit path
When the gap control check mode signal TRCKM (Gn225.2) is set to 1,
gap control impossible sate signal TRERS (Fn220.0) is turned to 1 as
following situation.
0: Deflection > parameter No.10392.
1: Deflection > (parameter No.10392+No.10394) or
Deflection > -(parameter No.10392).
Deflection of over deflection alarm of the gap control
Parameter input
Real path
0 to 32767.0
1.2
When a value that is specified as the reference deflection exceeds this setting
in the gap control, an over deflection alarm occurs.
Deflection of out of range of the gapcontrol (EOVRS)
Parameter input
Real path
0 to 32767.0
1.0
When the absolute value obtained by subtracting the reference deflection
from the detected deflection exceeds this setting in the gap control, an alarm
occurs.
No.
Design
May.22.08
#3
TRS
Draw
Date
Date
#0
If the gap control check mode signal TRCKM (Gn225.2) is set to 0

0: Only the gap control range over alarm is disabled.
1: Both the gap control range over alarm and gap control axis excess error
alarm are disabled.
Title
Ed.
#1
Parameter input
Bit path
#7
10382
#2
TAL
Description
Apprv.
Gap Control
A-90228E
page
26/29
10393
[Input type]
[Data type]
[Unit of data]
[Valid data range]
[Standard setting]
10394
[Input type]
[Data type]
[Unit of data]
[Valid data range]
[Standard setting]
Mask time of out of range of the gapcontrol alarm
Parameter input
Word path
msec
0 to 32767
1000
When the reference deflection amount is changed, an alarm is suppressed
during the transition state for the specified mask time.
Compensation amount of out of range of the gapcontrol alarm(OVRD)
Parameter input
Real path
0 to 32767.0
0
The compensation amount can be added to the detected value of the
approaching side (No. 10392).
If it is necessary to add the compensation, set 1 at parameter
TRS (No.10382#6). When TRS is 1, the detectable range is as
followings.
-EOVRS>=E-E0E-E0>=EOVRS+EOVRD
Title
Draw
No.
Ed.
Date
Date
Design
May.22.08
Design.
Description
Apprv.
Gap Control
A-90228E
page
27/29
Alarm
No
Message
PS4060
1.1.6
Content
gap control axis excess error Excessive error in the gap control
axis. The deflection exceeds the
value of parameter No.10391. Or the
absolute value of (deflection E standard deflection E0) exceeded the
value of parameter (No.10392).
Gap control gain override
Overview
Override can be applied to the gap control gain over a range between
12.5% and 100% by 12.5% steps.
SIgnal
Gap control gain override
[Classification]
[Function]
[Operation]
GAPG0, GAPG1,GAPG2<Gn225.4,.5,.6>
Input signal
Override can be applied to the gap control gain.
Override can be applied to the gap control gain between
12.5% and 100% by 12.5% steps.
Override%
100
87.5
75
62.5
50
37.5
25
12.5
GAPG2
0
0
0
0
1
1
1
1
GAPG1
0
0
1
1
0
0
1
1
GAPG0
0
1
0
1
0
1
0
1
Signal address
#7
Gn225
#6
#5
#4
GAPG2
GAPG1
GAPG0
Title
Draw
No.
Ed.
Date
Date
Design
May.22.08
Design.
Description
Apprv.
#3
#2
#1
#0
Gap Control
A-90228E
page
28/29
1.2
Machine lock of gap control
Overview
It is possible to stop the gap control axis by adjusting the speed to 0 while
the gap is being controlled.
Because the gap control is not ended, the gap control axis can be stopped
faster than the gap control is canceled.
Signal
Gap control axis machine lock signal <Gn227.7>
[Function] The feedrate of the gap control axis is adjusted to 0 and the axis becomes
to the machine lock condition.
Signal address
#7
G227
#6
#5
#4
#3
#2
#1
#0
TRMLK
Note
1 Operation of gap control axis machine lock signal
in the gap control.
It immediately becomes effective when gap
control axis machine lock signal TRMLK is
turned to 1" while the gap control is effective,
the gap control feedrate becomes 0, and the axis
stops.
But acceleration and deceleration is not applied .
Therefore do not turn TRMLK to 1 when the
gap control feedrate is very fast just after starting
approach.
When the gap control axis machine lock signal is
turned to 0" in the gap control axis machine lock
condition, please note above situation similarly.
Please do not make TRMLK to 0" in the state
in which the gap control axis parts from work
piece.
Title
Draw
No.
Ed.
Date
Date
Design
May.22.08
Design.
Description
Apprv.
Gap Control
A-90228E
page
29/29

A-90228e 080603

Uploaded by

Document Information

Original Description:

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

A-90228e 080603

Uploaded by

Copyright:

Available Formats

FANUC Series 30i/31i-MODEL A

FANUC Series 30i/31i -MODEL A

GAP CONTROL ............................................................................................................................................. 4

GAP CONTORL FUNCTION ...................................................................................................................................... 4

ADJUSTMENT OF THE GAP CONTROL AXIS ............................................................................................................ 12

REFERENCE DEFLECTION ..................................................................................................................................... 19

GAP CONTROL CHECK FUNCTION ......................................................................................................................... 24

GAP CONTROL GAIN OVERRIDE ............................................................................................................................ 28

MACHINE LOCK OF GAP CONTROL ............................................................................................................... 29

FANUC Series 30i/31i -MODEL A

FANUC Series 30i/31i -MODEL A

Gap contorl function

Block diagram of gap contorl

FANUC Series 30i/31i -MODEL A

Polarity of the control axis

Polarity of detection signal

FANUC Series 30i/31i -MODEL A

Level of the detector signal

Resolution of the detector signal

Select of level of the detector signal

Performace of the detector

FANUC Series 30i/31i -MODEL A

Feedrate of gap control axis

FANUC Series 30i/31i -MODEL A

Gap control operating signal TRCL<Fn220.2>

FANUC Series 30i/31i -MODEL A

Select axis for the gap control axis

FANUC Series 30i/31i -MODEL A

Machine movement at 1 rotation of motor

Wavelength of the separate detector

FANUC Series 30i/31i -MODEL A

Gap control gain

Gap control gain at approaching

FANUC Series 30i/31i -MODEL A

Adjustment of the gap control axis

Adjustment of the detector

Adjustment CNC for the detector

FANUC Series 30i/31i -MODEL A

Setting of detection gain coefficient

Display diagnose screen

Approach the nozzle for a work

Does the deflection begin to

Write the deflection down as

Approach about 1mm for a work

Write the deflection down as

Ke=1[mm]/((start point-end point)2**16

FANUC Series 30i/31i -MODEL A

Ajustment of zero point

Write the position of gap control

Approach about 1mm for work

Is the nozzle positioned at

Zero compensation value

Write the position of gap control

Ezr=(Start point-End point)

FANUC Series 30i/31i -MODEL A

Way of adjustment of gap control gain

FANUC Series 30i/31i -MODEL A

Detection read from detector

Detection gain coefficient(Ke)

Detection zero point(Ezr)

FANUC Series 30i/31i -MODEL A

Filter time constant