Parameter Manual: Fanuc

FANUC AC SPINDLE MOTOR @* series
PARAMETER MANUAL
B-65280EN/01
• No part of this manual may be reproduced in any form.
• All specifications and designs are subject to change without notice.
In this manual we have tried as much as possible to describe all the various matters.
However, we cannot describe all the matters which must not be done, or which cannot be
done, because there are so many possibilities.
Therefore, matters which are not especially described as possible in this manual should be
regarded as ”impossible”.
B-65280EN/01 DEFINITION OF WARNING, CAUTION, AND NOTE
DEFINITION OF WARNING, CAUTION, AND NOTE

This manual includes safety precautions for protecting the user and
preventing damage to the machine. Precautions are classified into
Warning and Caution according to their bearing on safety. Also,
supplementary information is described as a Note. Read the Warning,
Caution, and Note thoroughly before attempting to use the machine.
WARNING
Applied when there is a danger of the user being
injured or when there is a damage of both the user
being injured and the equipment being damaged if
the approved procedure is not observed.
CAUTION
Applied when there is a danger of the equipment
being damaged, if the approved procedure is not
observed.
NOTE
The Note is used to indicate supplementary
information other than Warning and Caution.
- Read this manual carefully, and store it in a safe place.
s-1
B-65280EN/01 TABLE OF CONTENTS
TABLE OF CONTENTS
DEFINITION OF WARNING, CAUTION, AND NOTE ................................ s-1

1 ADJUSTMENT .......................................................................................1
1.1 START-UP PROCEDURE .............................................................................2
1.2 PARAMETERS RELATED TO START-UP....................................................3
1.2.1 Parameters for the αi Series (Serial) Spindle System ............................................. 3
1.2.2 Automatic Spindle Parameter Initialization ............................................................ 3
1.2.3 Parameters Related to Spindle Speed Commands................................................... 4
1.2.4 Parameters Related to Detectors.............................................................................. 5
1.2.5 Parameters Related to Normal Operation Mode ................................................... 16
1.3 PARAMETER ADJUSTMENT .....................................................................18
1.3.1 When the Motor Does Not Rotate ......................................................................... 18
1.3.2 When the Motor Does Not Rotate at the Commanded Speed ............................... 19
1.3.3 When the Motor Vibrates and Generates Noise while Rotating ........................... 20
1.3.4 When Overshoot or Hunting Occurs ..................................................................... 20
1.3.5 When the Cutting Capability is Degraded............................................................. 21
1.3.6 When Time Required for Acceleration/Deceleration Increases............................ 21
1.3.7 Status Error Indication Function ........................................................................... 22
2 FUNCTION EXPLANATION.................................................................24
2.1 POSITION CODER METHOD SPINDLE ORIENTATION ...........................25
2.1.1 Start-up Procedure ................................................................................................. 25
2.1.2 Related DI/DO Signals .......................................................................................... 26
2.1.3 Related Parameters ................................................................................................ 27
2.1.4 Details of Related Parameters ............................................................................... 28
2.1.5 Calculating the Position Gain for Orientation....................................................... 34
2.1.6 Adjusting the Orientation Stop Position Shift Parameter...................................... 35
2.1.7 Calculating the Orientation Time .......................................................................... 36
2.2 HIGH-SPEED ORIENTATION .....................................................................38
2.2.1 Procedure for Setting Parameters .......................................................................... 38
2.2.5 Internal Spindle Data Related to High-Speed Orientation .................................... 46
2.2.6 Adjustment Procedure ........................................................................................... 47
2.3 RIGID TAPPING ..........................................................................................53
c-1
TABLE OF CONTENTS B-65280EN/01

2.3.5 Adjustment Procedure ........................................................................................... 70
2.3.6 Diagnosis ............................................................................................................... 74
2.3.7 Alarm ..................................................................................................................... 75
2.4 Cs CONTOURING CONTROL.....................................................................77
2.4.2 Related I/O Signals................................................................................................ 78
2.4.5 Additional Information on Parameters .................................................................. 87
2.4.6 Diagnosis ............................................................................................................... 87
2.5 SPINDLE SYNCHRONIZATION CONTROL ...............................................88
2.5.2 Related I/O Signals................................................................................................ 89
2.5.5 Number of Error Pulses in Spindle Synchronization ............................................ 97
2.5.6 Specifying a Shift Amount for Spindle Phase Synchronization Control .............. 98
2.5.7 Diagnosis ............................................................................................................... 98
2.6 SPEED RANGE SWITCHING CONTROL...................................................99
2.6.3 Related Parameters .............................................................................................. 100
2.6.4 Details of Related Parameters ............................................................................. 101
2.6.5 Parameter Switching Between High-speed Range and Low-speed Range.......... 103
3 EXPLANATION OF PARAMETERS...................................................106
APPENDIX
A SPINDLE PARAMETER TABLE ........................................................153
B LIST OF SPINDLE PARAMETER NUMBERS ...................................165
C TABLE OF SIGNALS RELATED TO SPINDLE CONTROL...............170
C.1 INPUT SIGNALS (PMC TO CNC) FOR FIRST SPINDLE CONTROL.......171
C.2 INPUT SIGNALS (PMC TO CNC) FOR SECOND SPINDLE CONTROL ..172
c-2
B-65280EN/01 TABLE OF CONTENTS
C.3 OUTPUT SIGNALS (CNC TO CNC) FOR FIRST SPINDLE CONTROL ...173
C.4 OUTPUT SIGNALS (CNC TO CNC) FOR SECOND SPINDLE
CONTROL .................................................................................................174
c-3
B-65280EN/01 1.ADJUSTMENT
1 ADJUSTMENT
-1-
1.ADJUSTMENT B-65280EN/01
1.1 START-UP PROCEDURE
A. Check the spindle-related specifications.

- CNC model (The αi series servo amplifier system is
connected to an i series CNC.)
- Spindle motor
- Power supply module
- Spindle amplifier module
- Detector system
B. Check all connections. (See DESCRIPTIONS (B-65272EN).)
C. Prepare and check the PMC ladder program.
D. Check the CNC parameter setting for using the αi series

(Serial) spindle. (See Section 1.2.1.)
E. Perform automatic αi series (Serial) spindle parameter H. When using a machine in a system
initialization. (See Section 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 spindle speed commands

and detectors. (See Sections 1.2.3 and 1.2.4.)
I. Check the waveforms of the feedback signals from detectors.

(Refer to the MAINTENANCE MANUAL (B-65285EN).)
J. Check the operation in normal operation mode.
K. Check the operation of each function.
-2-
1.2 PARAMETERS RELATED TO START-UP
1.2.1 Parameters for the αi Series (Serial) Spindle System
0 15 16i
1st 2nd 1st 2nd 15i 16
spindle spindle spindle spindle
- - 5606 5606 5606 - Whether to use αi series (Serial)
(*1) (*1) #0 #1 #0 (*1) spindle amplifiers
0071 5604 5841 3701 Number of αi series (Serial) spindle
#4 #0 (*2) #4 amplifiers connected
NOTE
1 Optional parameter
2 For Series 15i, specify an axis number in No. 5841.
1.2.2 Automatic Spindle Parameter Initialization
(1) Parameter list
Parameter No.
0 15
16i Description
1st 2nd 1st 2nd 15i
16
6519 6659 5607 5607 5607 4019 Function for automatically initializing
#7 #7 #0 #1 #0 #7 αi series (Serial) spindle parameters
6633 6773 3133 3273 3133 4133 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.
When there is no model code, set model code 300 (or 400
when the speed range switching function is used) for
automatic parameter initialization, then manually change
the parameter data according to the parameter list for each
model.
Parameter No.
0 15
16i Settings
1st 2nd 1st 2nd 15i
16
6633 6773 3133 3273 3133 4133 Model code
-3-
<2> Set the relevant parameter to 1 to enable automatic spindle

Parameter No.
0 15 16i
Settings
1st 2nd 1st 2nd 15i 16
6519#7 6659#7 - - - 4019#7 1
- - 5607#0 5607#1 5607#0 - 0
NOTE
This bit is reset to its original value after automatic
<3> Turn the CNC off, then on again. Then, the spindle
parameters specified with a model code are automatically
initialized.
<4> When no model code is available, manually change the
parameter data according to the parameter list for each
model.
1.2.3 Parameters Related to Spindle Speed Commands
Parameter No.
Description
0T 0M 15 15i 16i/16
0013 3706 Spindle speed command polarity (enabled when
- -
#7,6 #7,6 input signal SSIN is set to 0)
0543 3735
- 5618 Minimum clamp speed of spindle motor
(*1) (M series)
0542 3736
- 5619 Maximum clamp speed of spindle motor
(*1) (M series)
6520 3020 3020 4020 Maximum spindle speed
0539 0577 5613 5613 - Spindle speed command offset (always set to 0)
Spindle speed command gain adjustment (always
0516 5614 5614 -
set to 1000)
0541
0540 3741
0539
to to Maximum spindle speed corresponding to the gear
0555
0543 3744
(*2)
NOTE
1 Supported for the M series only. These parameters
are disabled, however, when the constant surface
speed control option is used.
2 When the constant surface speed control option is
used with the M series, the same parameter numbers
as for the T series (No. 0540 to No. 0543) are used.
-4-
1.2.4 Parameters Related to Detectors
NOTE
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.
(1) List of parameters for detectors
Parameter No.
Description
0T 0M 15 15i 16i/16
6500 #0 3000 #0 3000 #0 4000 #0 Direction of spindle and spindle motor rotation
6501 #4 3001 #4 3001 #4 4001 #4 Spindle sensor mounting direction
6502 3002 3002 4002
Spindle sensor type setting
#3,2,1,0 #3,2,1,0 #3,2,1,0 #3,2,1,0
6503 3003 3003 4003
Setting of the number of spindle sensor gear teeth
#7,6,5,4 #7,6,5,4 #7,6,5,4 #7,6,5,4
6504 3004 3004 4004 External one-rotation signal (proximity switch)
#3,2 #3,2 #3,2 #3,2 setting
Whether to detect disconnection of feedback
6507 #5 3007 #5 3007 #5 4007 #5
signals
Whether to detect alarms related to position
6507 #6 3007 #6 3007 #6 4007 #6
feedback signals (in non-Cs contour control mode)
6510 4010 3010 4010
Motor sensor type setting
#2,1,0 #2,1,0 #2,1,0 #2,1,0
6511 4011 3011 4011
Setting of the number of motor sensor gear teeth
#2,1,0 #2,1,0 #2,1,0 #2,1,0
Whether to detect alarms related to feedback (in Cs
6516 #5 3016 #5 3016 #5 4016 #5
contour control mode)
Whether to detect alarms related to threading
6516 #6 3016 #6 3016 #6 4016 #6
feedback
Setting of the function of detecting the one-rotation
6516 #7 3016 #7 3016 #7 4016 #7
signal again each time position control mode is set.
0003 0028 3706 Gear ratio between the spindle and position coder
5610
#7,6 #7,6 #1,0 (×1, ×2, ×4, ×4, ×8)
3056 3056 4056 Spindle-to-motor gear ratio data (This data is
6556 to 6559 to to to selected by spindle control input signals CTH1A and
3059 3059 4059 CTH2A.)
Denominator of gear ratio between motor sensor
6935 3315 3171 4171 and spindle
6937 3317 3173 4173 (This data is selected by spindle control input
signals CTH1A.)
Numerator of gear ratio between motor sensor and
6936 3316 3172 4172 spindle
6938 3318 3174 4174 (This data is selected by spindle control input
signals CTH1A.)
-5-
(2) Detail of parameter for detector
0 15 15i 16i/16
1st- 6500 3000 3000 4000 ROTA1
2nd- 6640 3140 #7 #6 #5 #4 #3 #2 #1 #0
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.
0 15 15i 16i/16
1st- 6501 3001 3001 4001 SSDIRC
2nd- 6641 3141 #7 #6 #5 #4 #3 #2 #1 #0
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.
0 15 15i 16i/16
1st- 6502 3002 3002 4002 SSTYP3 SSTYP2 SSTYP1 SSTYP0
2nd- 6642 3142 #7 #6 #5 #4 #3 #2 #1 #0
SSTYP3 to 0 Spindle sensor type

Set a separate detector to be mounted on the spindle.
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 (including the use of the built-in
motor).
0 0 1 0 α position coder
0 0 1 1 Separate BZi sensor
0 1 0 0 α position coder S
-6-
0 15 15i 16i/16
1st- 6503 3003 3003 4003 PCPL2 PCPL1 PCPL0 PCTYPE
2nd- 6643 3143 #7 #6 #5 #4 #3 #2 #1 #0
PCPL2, PCPL1, PCPL0, PCTYPE Gear teeth number setting of the spindle sensor
Set 0,0,0,0 for the α position coder or α position coder S. When the
motor sensor is to be used for position feedback, also set 0,0,0,0.
Gear teeth number of

PCPL2 PCPL1 PCPL0 PCTYPE
the spindle sensor
0 0 0 0 256λ/rev
0 0 0 1 128λ/rev
0 1 0 0 512λ/rev
0 1 0 1 64λ/rev
1 0 0 1 1024λ/rev
1 1 0 0 384λ/rev
0 15 15i 16i/16
1st- 6504 3004 3004 4004 RFTYPE EXTRF
2nd- 6644 3144 #7 #6 #5 #4 #3 #2 #1 #0
EXTRF, RFTYPE External one-rotation signal setting
External one-rotation signal

RFTYPE EXTRF
(proximity switch)
0 0 None
0 1 Detects the leading edge.
1 1 Detects the trailing edge.
0 15 15i 16i/16
1st- 6507 3007 3007 4007 PCALCH PCLS
2nd- 6647 3147 #7 #6 #5 #4 #3 #2 #1 #0
PCLS Determines feedback signal disconnection detection.

0 : Performs disconnection detection. (Normally set to "0")
1 : Does not perform disconnection detection.
Set it to 0:
AL-27 (Position coder signal disconnection), AL-73 (Motor sensor
disconnection), and AL-84 (Spindle sensor disconnection) are
checked.
Set it to "1" temporarily when adjustment is difficult when adjusting
location and speed feedback signal waves and the disconnection alarm
occurs. After adjustment reset it to "0".
PCALCH Determines whether to use alarms related to position feedback signals

(in non-Cs contour control mode).
0 : Detects alarms.
1 : Does not detect alarms.
When this bit is set to "1", AL-41, AL-42, AL-47, AL-81, AL-82, AL-
83, AL-85, AL-86, and AL-87 are checked.
-7-
0 15 15i 16i/16
1st- 6510 3010 3010 4010 MSTYP2 MSTYP1 MSTYP0
2nd- 6650 3150 #7 #6 #5 #4 #3 #2 #1 #0
MSTYP2, MSTYP1, MSTYP0 Motor sensor type

Set the detector (including the detector contained in the built-in
motor) which is built into the motor.
MSTYP2 MSTYP1 MSTYP0 Motor sensor type

0 0 0 Mi sensor
0 0 1 MZi, BZi sensor
0 15 15i 16i/16
1st- 6511 3011 3011 4011 VDT3 VDT2 VDT1
2nd- 6651 3151 #7 #6 #5 #4 #3 #2 #1 #0
VDT1 to VDT3 Gear teeth number setting of the motor sensor
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
Motor models and corresponding Mi and MZi sensors

Number of gear teeth of the detection
Motor model
ring on the Mi or MZi sensor
α0.5i 64λ/rev
α1i to α3i 128λ/rev
α6i to α22i
256λ/rev
αP12i to αP60i
0 15 15i 16i/16
1st- 6516 3016 3016 4016 RFCHK3 RFCHK2 RFCHK1
2nd- 6656 3156 #7 #6 #5 #4 #3 #2 #1 #0
RFCHK1 Determines whether to detect alarms related to position feedback (in

Cs contour control mode).
1 : Detects alarms.
When this bit is set to "1", AL-82, AL-83, AL-85, and AL-86 are
checked.
RFCHK2 Determines whether to detect the alarm related to threading position

detection signal feedback (AL-46).
1 : Detects alarms.
-8-
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.
0 15 15i 16i/16
1st- 6556 3056 3056 4056 Gear ratio (HIGH) CTH1A=0, CTH2A=0
2nd- 6696 3196
0 15 15i 16i/16
1st- 6557 3057 3057 4057 Gear ratio (MEDIUM HIGH) CTH1A=0, CTH2A=1
2nd- 6697 3197
0 15 15i 16i/16
1st- 6558 3058 3058 4058 Gear ratio (MEDIUM LOW) CTH1A=1, CTH2A=0
2nd- 6698 3198
0 15 15i 16i/16
1st- 6559 3059 3059 4059 Gear ratio (LOW) CTH1A=1, CTH2A=1
2nd- 6699 3199
Unit of data : (Motor rotation for one rotation of spindle) × 100

(When parameter No. 4006 #1 (GRUNIT) is 1, motor rotation × 1000)
Valid data range : 0 to 32767
Standard setting : 100
These data are used to set the gear ratio between spindle and spindle
motor.
Example :
When the spindle rotates once, set "250" as the data when the
motor rotates 2.5 times.
A parameter is selected with the CTH1A and CTH2A input signals.
Set the gear or clutch status to correspond to the clutch/gear signal
(CTH1A, CTH2A) in input signals.
-9-
0 15 15i 16i/16
1st- 6935 3315 3171 4171 Denominator of gear ratio between motor sensor and spindle (HIGH)CTH1A=0
2nd- 6975 3535
0 15 15i 16i/16
1st- 6936 3316 3172 4172 Numerator of gear ratio between motor sensor and spindle (HIGH) CTH1A=0
2nd- 6976 3536
0 15 15i 16i/16
1st- 6937 3317 3173 4173 Denominator of gear ratio between motor sensor and spindle (LOW)CTH1A=1
2nd- 6977 3537
0 15 15i 16i/16
1st- 6938 3318 3174 4174 Numerator of gear ratio between motor sensor and spindle (LOW) CTH1A=1
2nd- 6978 3538
Unit of data :
These parameters set conversion coefficients (denominators and
numerators) used when the feedback signal from the motor sensor (Mi
or MZi sensor) is multiplied by the gear ratio to use it as the 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".
- 10 -
(3) Details of parameters for detectors

The parameter setting used for each typical detector configuration is
described below.
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.
(a) When the α position coder is used
[Sample system configuration]

Spindle motor with built-in Mi sensor
(or MZi sensor)
JYA2 Spindle
α position coder
SPM
TYPE A
JYA3
Directly connected or connected with a gear or timing
belt at a ratio of 1:1
Parameter Settings Description

Depends on the Rotation directions of the spindle and
4000 #0
configuration. motor
Depends on the
4001 #4 Spindle sensor mounting direction
configuration.
Uses the α position coder as the
4002 #3,2,1,0 0,0,1,0
spindle sensor.
Sets the number of spindle sensor
4003 #7,6,5,4 0,0,0,0
gear teeth.
Depends on the
4010 #2,1,0 Sets the type of motor sensor.
detector.
Depends on the Sets the number of motor sensor gear
4011 #2,1,0
detector. teeth.
Depends on the Gear ratio between the spindle and
4056 to 4059
- 11 -
(b) When the α position coder S is used

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

4000 #0
Depends on the
configuration.
Uses the α position coder as the
4002 #3,2,1,0 0,1,0,0
spindle sensor.
Sets the number of spindle sensor
4003 #7,6,5,4 0,0,0,0
gear teeth.
Depends on the
detector.
4011 #2,1,0
detector. teeth.
4056 to 4059
- 12 -
(c) When the MZi or BZi sensor is used
[Sample system configuration 1]

Spindle motor with built-in MZi sensor
Spindle

BZi sensor
Spindle +
built-in motor

Spindle motor with built-in MZi sensor
Spindle
Directly connected or connected with a gear or timing belt

at a ratio of 1:1

4000 #0 0 Rotation directions of the spindle and motor
4002 Uses the motor sensor for position
0,0,0,1
#3,2,1,0 feedback.
Uses the MZi or BZi sensor as the motor
4010 #2,1,0 0,0,1
sensor.
Depends on
4011 #2,1,0 Sets the number of motor sensor gear teeth.
the detector.
Gear ratio between the spindle and motor
4056 to 4059 100 or 1000
1:1
- 13 -
(d) When the separate type BZi sensor is used

(or MZi sensor)
Spindle
BZi sensor

4000 #0
Depends on the
configuration.
Uses the BZi sensor as the spindle
4002 #3,2,1,0 0,0,1,1
sensor.
Depends on the Sets the number of spindle sensor
4003 #7,6,5,4
detector. gear teeth.
Depends on the
detector.
4011 #2,1,0
detector. teeth.
4056 to 4059
- 14 -
(e) When the external one-rotation signal (proximity switch) is used

(or MZi sensor)
Spindle
External one-rotation
signal switch (proximity
switch)
Gear or timing belt

4000 #0
Uses the motor sensor for position
4002 #3,2,1,0 0,0,0,1
feedback.
4004 #2 1 Uses the external one-rotation signal.
Depends on the Sets the external one-rotation signal
4004 #3
detector. type.
Depends on the
detector.
4011 #2,1,0
detector. teeth.
4056 to 4059
4171 to 4174
- 15 -
1.2.5 Parameters Related to Normal Operation Mode
(1) Parameters related to normal operation mode
Parameter No.
0 15 16i Description
15i
1st 2nd 1st 2nd 16
Velocity loop proportional gain for normal operation (HIGH)
6540 6680 3040 3180 3040 4040
CTH1A=0
Velocity loop proportional gain for normal operation (LOW)
6541 6681 3041 3181 3041 4041
CTH1A=1
Velocity loop integral gain for normal operation (HIGH)
6548 6688 3048 3188 3048 4048
CTH1A=0
Velocity loop integral gain for normal operation (LOW)
6549 6689 3049 3189 3049 4049
CTH1A=1
6582 6722 3082 3222 3082 4082 Setting the acceleration/deceleration progress time
6583 6723 3083 3223 3083 4083 Motor voltage setting for normal rotation
Motor voltage setting for normal rotation (for low-speed
6900 6940 3280 3500 3136 4136
characteristics in speed range switching control)
(2) Details of parameters related to normal operation mode
0 15 15i 16i/16
1st- 6540 3040 3040 4040 Velocity loop proportion gain on normal operation (HIGH) CTH1A=0
2nd- 6680 3180
0 15 15i 16i/16
1st- 6541 3041 3041 4041 Velocity loop proportion gain on normal operation (LOW) CTH1A=1
2nd- 6681 3181
Unit of data :
This data is used to set the velocity loop proportion gain on normal
operation.
A parameter is selected with the CTH1A input signal.
0 15 15i 16i/16
1st- 6548 3048 3048 4048 Velocity loop integral gain on normal operation (HIGH) CTH1A=0
2nd- 6688 3188
0 15 15i 16i/16
1st- 6549 3049 3049 4049 Velocity loop integral gain on normal operation (LOW) CTH1A=1
2nd- 6689 3189
Unit of data :
This data is used to set the velocity loop integral gain on normal
operation.
A parameter is selected with the CTH1A input signal.
- 16 -
0 15 15i 16i/16
1st- 6583 3083 3083 4083 Motor voltage setting on normal rotation
2nd- 6723 3223
0 15 15i 16i/16
1st- 6900 3280 3136 4136 Motor voltage setting on normal rotation (for low-speed characteristics in
2nd- 6940 3500 speed range switching control)
Unit of data : 1%
Standard setting : Depends on the motor model.
This parameter is used to set a motor voltage in normal operation. The
motor voltage to be set depends the motor model, the most usual
setting is 30.
- 17 -
1.3 PARAMETER ADJUSTMENT
If the spindle motor malfunctions, correct the fault as specified in the

table below. Refer to the MAINTENANCE MANUAL (B-65285EN)
for an explanation of the response required when an alarm occurs.
Relevant
Symptom
section
1 The motor does not rotate. 1.3.1
2 The motor does not rotate at the commanded speed. 1.3.2
3 The motor vibrates and generates noise while rotating. 1.3.3
4 Overshoot or hunting occurs. 1.3.4
5 The cutting capability is sub-standard. 1.3.5
The time required for acceleration/deceleration is
6 1.3.6
increased.
An LED indicates a status error. (Status error indication
7 1.3.7
function)
1.3.1 When the Motor Does Not Rotate
(1) Check all connections. (See DESCRIPTIONS (B-65272EN).)

(a) Motor power line phase sequence
(b) Feedback signal cable connection
(c) DC link connection between the power supply module and
amplifier module
(2) Check the parameter settings.

(a) Parameter data for each motor model
(b) Detector-related parameters (See Section 1.2.4.)
(c) Setting of maximum motor speed
0 15 15i 16i/16 Description

6520 3020 3020 4020 Maximum motor speed
(d) Parameters related to spindle speed commands (See Section

1.2.3.)
(3) Check the Input signals.

(a) Input signals for spindle control.
0 15 15i 16i/16 7 6 5 4 3 2 1 0
G229 G227 G227 G070 MRDYA SFRA SRVA
G230 G226 G226 G071 *ESPA
(4) Check the feedback signals.

(a) Feedback signal levels (See MAINTENANCE MANUAL
(B-65285EN).)
(b) Shielding and grounding (See DESCRIPTIONS (B-
65272EN).)
- 18 -
1.3.2 When the Motor Does Not Rotate at the Commanded Speed
(1) Check all connections. (See DESCRIPTIONS (B-65272EN).)

(a) Motor power line phase sequence
(b) Feedback signal cable connection

(a) Parameter data for each motor model
(b) Detector-related parameters (See Section 1.2.4.)
(c) Setting of maximum motor speed

(d) Parameters related to spindle speed commands (See Section

1.2.3.)

(B-65285EN).)
65272EN).)
- 19 -
1.3.3 When the Motor Vibrates and Generates Noise while Rotating

(B-65285EN).)
65272EN).)

The velocity loop gain value may be too large. Adjust the
parameters indicated below.
0 15 15i 16i/16 Description Settings

Velocity loop proportional gain
6540 3040 3040 4040
(HIGH)
6541 3041 3041 4041 Specify a
( LOW)
smaller
Velocity loop integral gain
6548 3048 3048 4048 value.
(HIGH)
6549 3049 3049 4049
(LOW)
(3) Compare the conditions when the motor is driven and when the
motor is coasting.
If considerably less vibration and noise is observed while the
motor is coasting, the control circuitry is faulty. If the same
degree of vibration and noise is observed, however, the motor or
machine is faulty.
The motor starts coasting and an alarm is issued if the feedback
signal cable is disconnected while the motor is rotating. Before
attempting to coast the motor, check with the machine tool
builder. The machine can stop, depending on the sequence.
1.3.4 When Overshoot or Hunting Occurs

The velocity loop gain value may be too large. Adjust the
parameters indicated below.
0 15 15i 16i/16 Description Settings

6540 3040 3040 4040
(HIGH)
6541 3041 3041 4041 Specify a
( LOW)
smaller
6548 3048 3048 4048 value.
(HIGH)
6549 3049 3049 4049
(LOW)
- 20 -
1.3.5 When the Cutting Capability is Degraded

(a) Parameter data for each motor
(b) Limited output pattern and output limit

6528 3028 3028 4028 Sets a limited output pattern.
6529 3029 3029 4029 Output limit
(2) Check the input signals.

(a) Torque limit command (TLMH, TLML)
0 15 15i 16i/16 7 6 5 4 3 2 1 0
G229 G227 G227 G070 TLMHA TLMLA
(3) Check the machine.

(a) Belt tension, etc.
1.3.6 When Time Required for Acceleration/Deceleration Increases

(a) Parameter data for each motor
(b) Limited output pattern and output limit

6528 3028 3028 4028 Sets a limited output pattern.
6529 3029 3029 4029 Output limit
(c) Regenerative power limit (Make sure that the set value is
the same as the one listed in the motor model-specific
parameter table.)
6580 3080 3080 4080 Regenerative power limit
Regenerative power limit
6930 3310 3166 4166
(for low-speed characteristics)
(2) Check the input signals.

(a) Torque limit command (TLMH, TLML)
0 15 15i 16i/16 7 6 5 4 3 2 1 0
G229 G227 G227 G070 TLMHA TLMLA
- 21 -
1.3.7 Status Error Indication Function
If a parameter is set incorrectly, or an incorrect sequence is set, the

error LED (yellow) of the indicator section on the spindle amplifier
module (SPM) lights to indicate the corresponding error number.
If the spindle motor malfunctions, check the error number indication
on the amplifier indicator section, then take correct the fault as
described in the table below.
Indication Status error Action

SFR (normal rotation command), SRV (reverse rotation
Check the sequence of *ESP and MRDY.
command), or ORCM (orientation command) is entered
For MRDY, check bit 0 of parameter No.
01 when *ESP (emergency stop signal, which may be a
4001, specifying whether to use the MRDY
input signal or contact signal) and MRDY (machine ready
signal.
signal) are not applied.
When bits 3, 2, 1, and 0 of parameter No. 4002 is set to
0,0,0,0 to specify that no position sensor is used (no
03 position control function is used), the Cs contour control Check the parameter settings.
command is entered.
In such a case, the motor is not activated.
0,0,0,0 to specify that no position sensor is used (no
position control function is used), a servo mode control
04 Check the parameter settings.
command (rigid tapping, Cs axis control, etc.) or spindle
synchronization control command is entered.
In such a case, the motor is not activated.
When the option parameter of the orientation function is Check the parameter setting enabling the
05
not set, ORCM (orientation command) is entered. use of the orientation function.
Check the setting of the parameter for using
When the option parameter of the speed range switching
the speed range switching control function,
06 control function is not set, winding for low-speed
and the power line status check signal
characteristics is selected (with RCH = 1).
(RCH).
When the Cs contouring control command is entered,
07 neither SFR (normal rotation command) nor SRV Check the sequence.
(reverse rotation command) is entered.
When a servo mode control command (rigid tapping, Cs
axis control, etc.) is entered, neither SFR (normal rotation
08 Check the sequence.
command) nor SRV (reverse rotation command) is
entered.
When the spindle synchronization control command is
09 entered, neither SFR (normal rotation command) nor Check the sequence.
SRV (reverse rotation command) is entered.
When Cs contouring control is specified, do
When the Cs contouring control command is entered, a
not specify another mode. To enter another
10 another mode (such as the servo mode, spindle
mode, first cancel the Cs contouring control
synchronous control, and orientation) is specified.
command.
When a servo mode control command (rigid tapping, Cs When a servo mode is specified, do not
axis control, etc.) is entered, another mode (such as Cs specify another mode. To enter another
11
contouring control, spindle synchronization control, and mode, first cancel the servo mode
orientation) is specified. command.
When spindle synchronization control is
When the spindle synchronization control command is
specified, do not specify another mode.
12 entered, another mode (Cs contouring control, servo
To enter another mode, first cancel the
mode, or orientation) is specified.
spindle synchronization control command.
- 22 -
Indication Status error Action

When the orientation command is entered, another mode When orientation is specified, do not specify
13 (Cs contouring control, servo mode, or spindle another mode. To enter another mode, first
synchronization control) is specified. cancel the orientation command.
SFR (normal rotation command) and SRV (reverse
14 Specify only SFR or SRV at one time.
rotation command) are entered at the same time.
When bit 5 of parameter No. 4000 is set to 1 to specify
Check the parameter setting and input
15 the use of the differential speed control function, the Cs
signal.
contouring control command is entered.
When bit 5 of parameter No. 4000 is set to 0 to specify
Check the parameter setting and the
16 that the differential speed control function is not used,
differential speed mode command.
DEFMD (differential speed mode command) is entered.
The setting of bits 2, 1, and 0 of parameter No. 4011 for
17 specifying a speed detector is incorrect. The specified Check the parameter setting.
speed detector cannot be found.
0,0,0,0 to specify that a position sensor is not used Check the parameter setting and input
18
(position control is executed), orientation by a position signal.
coder is specified.
When orientation by a magnetic sensor is specified, When orientation is specified, do not specify
19 another mode (Cs contouring control, servo mode, or another mode. To enter another mode, first
spindle synchronization control) is specified. cancel the orientation command.
In continuous indexing with orientation by a position Check INCMD (incremental command).
coder, incremental operation (INCMD = 1) is first Before specifying absolute position
24
performed, after which the absolute position command commands in succession, perform absolute
(INCMD = 0) is entered. position command orientation.
Bit 6 of parameter No. 4018 is set to 0 and parameters With the αi series spindle amplifier, the
29 Nos. 4320 to 4323 are not set to 0 to specify the use of shortest-time orientation function is not
the shortest-time orientation function. available. Use another type of orientation.
- 23 -
2.FUNCTION EXPLANATION B-65280EN/01
2 FUNCTION EXPLANATION
- 24 -
B-65280EN/01 2.FUNCTION EXPLANATION
2.1 POSITION CODER METHOD SPINDLE ORIENTATION
2.1.1 Start-up Procedure
A. Check that normal operation can be performed.
B. Prepare and check the ladder program for spindle orientation.

(See DESCRIPTIONS (B-65272EN).)
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
- Command multiplication by an externally set incremental command
H. Adjust the orientation speed.

- Position gain for orientation
- Motor speed limit ratio for orientation
- Orientation speed
J. Adjust the orientation stop (to eliminate overshoot and ensure stop-time rigidity).
- Position gain for orientation
- Velocity loop proportional gain for orientation
- Velocity loop integral gain for orientation
- Motor voltage for orientation
- Rate of change in position gain upon orientation completion
K. Check ATC operation.
- 25 -
2.1.2 Related DI/DO Signals
(1) Input signals (PMC → CNC)
0 15 15i 16i/16 7 6 5 4 3 2 1 0
1st- G110 G231 G230 G078 SHA07 SHA06 SHA05 SHA04 SHA03 SHA02 SHA01 SHA00
2nd- G112 G239 G238 G080
1st- G111 G230 G231 G079 SHA11 SHA10 SHA09 SHA08

2nd- G113 G238 G239 G081
1st- G229 G227 G227 G070 MRDYA ORCMA SFRA SRVA CTH1A CTH2A TLMHA TLMLA
2nd- G233 G235 G235 G074
1st- G230 G226 G226 G071 RCHA RSLA INTGA SOCNA MCFNA SPSLA *ESPA ARSTA
2nd- G234 G234 G234 G075
1st- G231 G229 G229 G072 RCHHGA MFNHGA INCMDA OVRA DEFMDA NRROA ROTAA INDXA
2nd- G235 G237 G237 G076
(2) Output signals (CNC → PMC)
0 15 15i 16i/16 7 6 5 4 3 2 1 0
1st- F281 F229 F229 F045 ORARA TLMA LDT2A LDT1A SARA SDTA SSTA ALMA
2nd- F285 F245 F245 F049
1st- F282 F228 F228 F046 RCFNA RCHPA CFINA CHPA

2nd- F286 F244 F244 F050
- 26 -
2.1.3 Related Parameters
Parameter No.
Description
0 15 15i 16i/16
Specifies whether to use the spindle orientation function. (Set this bit to
6515 #0 3015 #0 3015 #0 4015 #0
1.) (The CNC software option is required.)
0080 5609 5609 3702 Specifies whether to use the spindle orientation function with the stop
#3,#2 #3,#2 #2 #3,#2 position set externally. (Bit 2: 1st spindle, Bit 3: 2nd spindle)
6503 #0 3003 #0 3003 #0 4003 #0 Choice of orientation method (Set this bit to 0.)
6503 3003 3003 4003
Direction of rotation in spindle orientation
#3,2 #3,2 #3,2 #3,2
6517 #7 3017 #7 3017 #7 4017 #7 Shortcut function when orientation is specified in stop state
Stop position for position coder method orientation
6531 3031 3031 4031 (This parameter is disabled when spindle orientation with an externally
set stop position or an externally set incremental command is used.)
6542 3042 3042 4042 Velocity loop proportional gain for orientation
6543 3043 3043 4043 (A parameter is selected by the CTH1A input signal.)
6550 3050 3050 4050 Velocity loop integral gain for orientation
6556 3056 3056 4056
Spindle-to-motor gear ratio
to to to to
(A parameter is selected by the CTH1A and CTH2A input signals.)
6559 3059 3059 4059
6560 3060 3060 4060
Position gain for orientation
to to to to
(A parameter is selected by the CTH1A and CTH2A input signals.)
6563 3063 3063 4063
Rate of change in the position gain upon completion of spindle
6564 3064 3064 4064
orientation
6575 3075 3075 4075 Detection level for the spindle orientation completion signal
6576 3076 3076 4076 Speed limit ratio for spindle orientation
6577 3077 3077 4077 Spindle orientation stop position shift
6584 3084 3084 4084 Motor voltage for spindle orientation
6292 3472 3328 4328 Command multiplication with an externally set incremental command
6538 3038 3038 4038 Spindle orientation speed
NOTE
For the parameters related to detectors, see
Chapter 1.
- 27 -
2.1.4 Details of Related Parameters
0 15 15i 16i/16
1st- 6503 3003 3003 4003 DIRCT2 DIRCT1 PCMGSL
2nd- 6643 3143 #7 #6 #5 #4 #3 #2 #1 #0
DIRCT2-DIRCT1 Setting of rotation direction at spindle orientation

DIRCT2 DIRCT1 Rotation direction at spindle orientation
By rotation direction immediately before
0 0
(It is CCW at the power on.)
By rotation direction immediately before
0 1
(It is CW at the power on.)
CCW (counterclockwise) direction looking from shaft
1 0
of motor
1 1 CW (clockwise) direction looking from shaft of motor
When "By rotation direction immediately before" is set, "rotation
direction immediately before" is determined to be the direction of
rotation performed at a level higher than the zero speed detection
level (PMC output signal SST = 0).
PCMGSL Selects the type of orientation.

Set this bit to 0 (orientation by a position coder).
0 15 15i 16i/16
1st- 6517 3017 3017 4017 NRROEN
2nd- 6657 3167 #7 #6 #5 #4 #3 #2 #1 #0
NRROEN Specifies whether to use the shortcut function when orientation is

specified in the stop state.
0 : Does not use the function.
1 : Uses the function.
When this bit is set to 1, short cut operation is performed when the
following conditions are satisfied:
- Bit 7 of parameter No. 4016 (RFCHK3) is set to 0.
- Zero speed detection output signal SST is set to 1.
- Shortcut command input signal NRROA is set to 1.
0 15 15i 16i/16
1st- 6531 3031 3031 4031 Position coder method orientation stop position
2nd- 6671 3171
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.
- 28 -
0 15 15i 16i/16
1st- 6538 3038 3038 4038 Spindle orientation speed
2nd- 6678 3178
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.
A constant orientation speed is maintained at the end of the spindle to
ensure reliable detection of the reference switch signal, even when a
gear change is made.
When the spindle orientation function with a reference switch is to be
used, set this parameter.
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.
0 15 15i 16i/16
1st- 6542 3042 3042 4042 Velocity loop proportion gain on orientation (HIGH) CTH1A=0
2nd- 6682 3182
0 15 15i 16i/16
1st- 6543 3043 3043 4043 Velocity loop proportion gain on orientation (LOW) CTH1A=1
2nd- 6683 3183
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.
Using these parameters, the response during orientation deceleration,
as well as rigidity in the orientation stop state, can be adjusted.
Set the maximum allowable values (about 70% to 80% of the
oscillation limit) that do not cause vibration in the orientation stop
state.
- 29 -
0 15 15i 16i/16
1st- 6550 3050 3050 4050 Velocity loop integral gain on orientation (HIGH) CTH1A=0
2nd- 6690 3190
0 15 15i 16i/16
1st- 6551 3051 3051 4051 Velocity loop integral gain on orientation (LOW) CTH1A=1
2nd- 6691 3191
Unit of data :
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.
Rigidity in the orientation stop state is adjusted using these
parameters.
0 15 15i 16i/16
1st- 6556 3056 3056 4056 Gear ratio (HIGH) CTH1A=0, CTH2A=0
2nd- 6696 3196
0 15 15i 16i/16
1st- 6557 3057 3057 4057 Gear ratio (MEDIUM HIGH) CTH1A=0, CTH2A=1
2nd- 6697 3197
0 15 15i 16i/16
1st- 6558 3058 3058 4058 Gear ratio (MEDIUM LOW) CTH1A=1, CTH2A=0
2nd- 6698 3198
0 15 15i 16i/16
1st- 6559 3059 3059 4059 Gear ratio (LOW) CTH1A=1, CTH2A=1
2nd- 6699 3199

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.
- 30 -
0 15 15i 16i/16
1st- 6560 3060 3060 4060 Position gain on orientation (HIGH) CTH1A=0, CTH2A=0
2nd- 6700 3200
0 15 15i 16i/16
1st- 6561 3061 3061 4061 Position gain on orientation (MEDIUM HIGH) CTH1A=0, CTH2A=1
2nd- 6701 3201
0 15 15i 16i/16
1st- 6562 3062 3062 4062 Position gain on orientation (MEDIUM LOW) CTH1A=1, CTH2A=0
2nd- 6702 3202
0 15 15i 16i/16
1st- 6563 3063 3063 4063 Position gain on orientation (LOW) CTH1A=1, CTH2A=1
2nd- 6703 3203
Unit of data : 0.01sec-1

These parameters set the position gain for orientation.
0 15 15i 16i/16
1st- 6564 3064 3064 4064 Modification rate of position gain on orientation completion
2nd- 6704 3204
Unit of data : 1%
This data is used to set the modification rate of position gain on
spindle orientation completion.
0 15 15i 16i/16
1st- 6575 3075 3075 4075 Orientation completion signal detection level (limits of imposition)
2nd- 6715 3215
Unit of data : ± 1 pulse unit

This data is used to set the detecting level of orientation completion
signal (ORARA).
When the spindle position is located within the setting data on
orientation completion, the bit of orientation completion signal
(ORARA) in the spindle control signals is set to "1".
When the orientation command (ORCMA) is canceled, the orientation
completion signal (ORARA) is set to "0".
- 31 -
0 15 15i 16i/16
1st- 6576 3076 3076 4076 Motor speed limit value on orientation
2nd- 6716 3216
Unit of data : 1%
This data is used to set the motor speed limit value on orientation.
Orientation speed of motor (motor speed)[min −1 ]
(Setting data)
= (Position gain ) × (Gear ratio ) × 60 ×
100
0 15 15i 16i/16
1st- 6577 3077 3077 4077 Orientation stop position shift value
2nd- 6717 3217
Unit of data : ± 1 pulse unit

Valid data range : -4095 to 4095
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 (+).
0 15 15i 16i/16
1st- 6584 3084 3084 4084 Motor voltage setting on orientation
2nd- 6724 3224
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.
- 32 -
0 15 15i 16i/16
1st- 6935 3315 3171 4171 Denominator of gear ratio between motor sensor and spindle (HIGH)CTH1A=0
2nd- 6975 3535
0 15 15i 16i/16
1st- 6936 3316 3172 4172 Numerator of gear ratio between motor sensor and spindle (HIGH) CTH1A=0
2nd- 6976 3536
0 15 15i 16i/16
1st- 6937 3317 3173 4173 Denominator of gear ratio between motor sensor and spindle (LOW)CTH1A=1
2nd- 6977 3537
0 15 15i 16i/16
1st- 6938 3318 3174 4174 Numerator of gear ratio between motor sensor and spindle (LOW) CTH1A=1
2nd- 6978 3538
Unit of data :
They are used for the function for spindle orientation by the external
one-rotation signal.
are:
No. 4171 (No. 4173 when CTH1A = 1) = P
No. 4172 (No. 4174 when CTH1A = 1) = Q
0 15 15i 16i/16
1st- 6292 3472 3328 4328 Command multiplier for spindle orientation using a position coder
2nd- 6472 3692
Unit of data :
This parameter specifies command multiplier for the spindle
orientation function for which incremental commands are specified
externally.
When 0 is specified for this parameter, multiplication by one is set
automatically.
Incremental command = Incremental command data (SHA11 to 00) ×
(This parameter settings (magnification))
When the spindle speed is to be controlled, set 4096 in this parameter
because 4,096 pulses are required for one rotation.
- 33 -
2.1.5 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
(2) The position gain for spindle orientation is obtained using the
following expression:
æ Tm ö
PG ≤ çç ÷÷
è 2π × (Jm + Jl ) × Rori × GEAR ø
where,
PG : Position gain for orientation [sec-1]
Tm : 30-min rated torque [Nm] for the motor when rotating
at Nori [min-1]
Jm : Rotor inertia [kgm2]
Jl : Load inertia converted to motor shaft inertia [kgm2]
Rori : Motor speed limit ratio for orientation
(parameter No. 4076)
GEAR : Spindle-to-motor gear ratio
(3) Calculation example when motor model α6i is being used alone
7500[ W ]
Tm = = 47.8[ Nm]
1500[min −1 ] × 0.1047
Jm = 0.0179[kgm 2]
Rori = 33[%]
æ 47.8 ö
∴ PG ≤ ç ÷ = 35.9[sec −1 ]
è 2 π × 0 .0179 × 0 . 33 ø
- 34 -
2.1.6 Adjusting the Orientation Stop Position Shift Parameter
Adjust the orientation stop position shift parameter by following the

procedure below.
(1) Specify parameters as follows:

No.4016#7=0
No.4031=0(When external signals are used for setting, set the
SHA11 to SHA00 DI signals to 0.)
No.4077=0
(2) To display the position coder counter under position control, set
the following on the spindle check board:
d-01=295
d-02=0
d-03=0
d-04=0
(3) Enter an orientation command (ORCMA) to stop orientation.
(4) Once orientation stops, check that 04096 or an integer multiple
of 4096 (0, 4096, 8192, ...) is displayed.
(5) Cancel the orientation command and set the emergency stop
state to deactivate the motor.
(6) Manually position the spindle to the position where you want the
spindle to stop. Then, read the displayed value.
(7) Obtain the difference between the value read in (6) and the value
obtained in (4). Specify the obtained difference as the orientation
stop position shift parameter.
Setting = Value read in (6) - value read in (4)
Example:
Value displayed when Value displayed when the
orientation is stopped = spindle is positioned
ð
04096 manually after deactivating
the motor = 05120
Value to be specified in the parameter = 5120 - 4096 = 1024
- 35 -
2.1.7 Calculating the Orientation Time
The time required for orientation differs between the first orientation
(before the one-rotation signal has first been detected) and the second
and subsequent orientations (once the one-rotation signal has been
detected).
(1) Before the one-rotation signal has first been detected (first
orientation)The time, from the input of an orientation command
until orientation stops, is divided into four periods.
In the following figure, A indicates that the motor in the stop
state starts rotating and is accelerated to the orientation speed. B
indicates that the already rotating motor is decelerated to the
orientation speed.
Motor speed
Time
t1 : Time required to achieve orientation speed Nori [sec]

t2 : Time from the detection of a one-rotation signal (0 to 1 rotation) after Nori is achieved, until the
number of pulses output before the next one-rotation signal has been checked [sec]
t3 : Time from the completion of the checking of the number of pulses until deceleration starts [sec]
t4 : Time from the start of deceleration until orientation is completed [sec]
(a) Normally, t1 is measured on the actual machine.

Orientation speed Nori [min-1] is calculated from position
gain PG [sec-1] and the motor speed limit ratio for
orientation Rori.
Nori = PG × 60 × Rori
(b) t2 is the time required for the motor to rotate one to two
turns at orientation speed Nori [min-1].
1 × 60 2 × 60
≤ t2 ≤
Nori Nori
1 2
∴ ≤ t2 ≤
PG × Rori PG × Rori
(c) t3 is the time required for the motor to rotate zero to one
turns at orientation speed Nori [min-1].
0 × 60 1 × 60
≤ t3 ≤
Nori Nori
1
∴ 0 ≤ t3 ≤
PG × Rori
- 36 -
(d) t4 is the time from the start of deceleration until orientation

has been completed.
Let the orientation completion width be within ±10 pulses.
Then, t4 can be calculated as follows:
1 4096 × Rori
t4 = × ln
PG 10
(e) Therefore, the orientation time t[sec](=t1+t2+t3+t4) can be
expressed as follows:
1 1 4096 × Rori 3
t1 = + ln ≤ t ≤ t1 +
PG × Rori PG 10 PG × Rori
1 4096 × Rori
+ ln
PG 10
(2) Once the one-rotation signal has been detected (second and
subsequent orientations)
(a) Once the one-rotation signal has been detected, the time
required to detect the signal is no longer necessary.
Therefore, when orientation is started from the rotating
state, orientation time t[sec](=t1+t3+t4) is expressed as
follows:
1 4096 × Rori 1 1 4096 × Rori
t1 = ln ≤ t ≤ t1 + + ln
PG 10 PG × Rori PG 10
(b) Whenever orientation is started from the stop state,
orientation must be completed and the stop state entered
within one rotation. In this case, the orientation time t [sec]
is expressed as follows:
1 − Rori 1 4096 × Rori
0≤t≤ + ln
PG × Rori PG 10
(3) Calculation examples

Time required to achieve the orientation speed t1 = 0.5 [sec]
Position gain PG = 20 [sec-1]
Motor speed limit for orientation Rori = 0.33 (= 33%)
(a) Orientation time before the one-rotation signal has been
detected
1 1 4096 × 0.33 3
0 .5 + + × ln ≤ t ≤ 0 .5 +
20 × 0.33 20 10 20 × 0.33
1 4096 × 0.33
+ × ln
20 10
∴ 0.896[sec] ≤ t ≤ 1.196[sec]
(b) Orientation time when orientation is started from the
rotating state (once the one-rotation signal has been
detected)
1 4096 × 0.33 1 1 4096 × 0.33
0 .5 + × ln ≤ t ≤ 0.5 + + × ln
20 10 20 × 0.33 20 10
∴ 0.746[sec] ≤ t ≤ 0.896[sec]
(c) Orientation time when orientation is started from the stop
state (once the one-rotation signal has been detected)
1 − 0.33 1 4096 × 0.33
0≤t≤ + ln
20 × 0.33 20 10
∴ 0[sec] ≤ t ≤ 0.346[sec]
- 37 -
2.2 HIGH-SPEED ORIENTATION
2.2.1 Procedure for Setting Parameters
A. Specify bit parameters (including position coder setting).
B. Specify the orientation stop position.
- No. 4077: Orientation stop position shift value
- No. 4031: Orientation stop position
- No. 4075: Orientation completion signal detection level
C. Specify a gear ratio.
- Nos. 4056 to 4059: Gear ratio
D. Specify a motor deceleration time constant.
- Nos. 4320 to 4323: Motor deceleration time constant
E. Specify a proportional gain and integral gain of velocity loop and a position gain.
- Nos. 4042, 4043: Velocity loop proportional gain on orientation
- Nos. 4050, 4051: Velocity loop integral gain on orientation
- Nos. 4060 to 4063: Position gain on orientation
F. Specify the following parameters as needed:
- No. 4018, #5: Velocity command correction at high-speed orientation
- No. 4038: Upper limit of spindle orientation speed
- No. 4064: Deceleration time constant restriction ratio
- No. 4084: Motor voltage setting on orientation

- Nos. 4326, 4330: Deceleration time constant restriction start velocity
- 38 -
0 15 15i 16i/16 7 6 5 4 3 2 1 0
1st- G110 G231 G230 G078 SHA07 SHA06 SHA05 SHA04 SHA03 SHA02 SHA01 SHA00
2nd- G112 G239 G238 G080
1st- G111 G230 G231 G079 SHA11 SHA10 SHA09 SHA08

2nd- G113 G238 G239 G081
2nd- G233 G235 G235 G074
2nd- G234 G234 G234 G075
2nd- G235 G237 G237 G076
0 15 15i 16i/16 7 6 5 4 3 2 1 0
2nd- F285 F245 F245 F049

2nd- F286 F244 F244 F050
- 39 -
Parameter No.
Description
0 15 15i 16i/16
Specifies whether to use the spindle orientation function. (Set this bit to
6515 #0 3015 #0 3015 #0 4015 #0
1.) (The CNC software option is required.)
6518 #6 3018 #6 3018 #6 4018 #6 High-speed orientation function (Set this bit to 1.)
0080 5609 5609 3702 Spindle orientation function of stop position external setting type
#3,#2 #3,#2 #2 #3,#2 (#2: First spindle, #3: Second spindle)
6503 #0 3003 #0 3003 #0 4003 #0 Choice of orientation method (Set this bit to 0.)
6503 3003 3003 4003
Rotation direction on orientation
#3,2 #3,2 #3,2 #3,2
6517 #7 3017 #7 3017 #7 4017 #7 Shortcut function for orientation specified from the stop state
6518 #5 3018 #5 3018 #5 4018 #5 Velocity command correction function in high-speed orientation
Orientation stop position
6531 3031 3031 4031 (This parameter is disabled when spindle orientation with an externally
set stop position or an externally set incremental command is used.)
6538 3038 3038 4038 Highest orientation speed
6542 to 3042 to 3042 to 4042 to Velocity loop proportional gain on orientation
6550 to 3050 to 3050 to 4050 to Velocity loop integral gain on orientation
6556 to 3056 to 3056 to 4056 to Spindle-to-motor gear ratio
6559 3059 3059 4059 (A parameter is selected by the CTH1A and CTH2A input signals.)
6560 to 3060 to 3060 to 4060 to Position gain on orientation
6564 3064 3064 4064 Deceleration time constant restriction ratio
6575 3075 3075 4075 Orientation completion signal detection level
6577 3077 3077 4077 Orientation stop position shift value
6584 3084 3084 4084 Motor voltage setting on orientation
6284 to 3464 to 3320 to 4320 to Motor deceleration time constant
6290, 3470, 3326, 4326, Deceleration time constant restriction start velocity (A parameter is
6294 3474 3330 4330 selected by the CTH1A input signal.)
6292 3472 3328 4328 Command multiplier for orientation
NOTE
Chapter 1.
- 40 -
FS0 FS15 FS15i FS16i/16

6518 3018 3018 4018 HSORI HSVCM
#7 #6 #5 #4 #3 #2 #1 #0
HSVCM Velocity command correction at high-speed orientation

0: Not provided
1: Provided
Usually, specify 1.
HSORI High-speed orientation function

0: Disabled
1: Enabled
Specify 1.

6503 3003 3003 4003 DIRCT2 DIRCT1 PCMGSL
#7 #6 #5 #4 #3 #2 #1 #0
DIRCT1, DIRCT2 Rotation direction at orientation
DIRCT2 DIRCT1 Rotation direction

0 0 Depends on the previous rotation direction
(counterclockwise for the first rotation after power-up)
0 1 Depends on the previous rotation direction (clockwise
for the first rotation after power-up)
1 0 Counterclockwise viewed from the motor shaft
1 1 Clockwise viewed from the motor shaft
Specify 0,0 or 0,1.
PCMGSL Choice of orientation method

Specify 0.

6517 3017 3017 4017 NRROEN
#7 #6 #5 #4 #3 #2 #1 #0
NRROEN Shortcut function for orientation specified from the stop state
0: Not provided
1: Provided
If this bit is set to 1, the shortcut function is used when the following
conditions are satisfied:
i) Bit 7 (RFCHK3) of parameter No. 4016 is set to 0.
ii) Speed zero detection signal SST, which is a output signal, is set
to 1.
iii) Shortcut command NRROA, which is a input signal, is set to 1.
- 41 -

6351 3031 3031 4031 Position coder method orientation stop position
Unit of data 1 pulse unit (360deg /4096)

Valid data range 0 to 4096
Standard setting 0
This parameter specifies the stop position of position coder method
orientation. For spindle orientation of stop position external setting
type or incremental command external setting type, this parameter is
invalid. Instead, the stop position command (SHA11 to SHA00),
which is a input signal, becomes valid.

6538 3038 3038 4038 Upper limit of spindle orientation speed
Unit of data 1min-1

Standard setting 0
This parameter specifies the upper limit of orientation speed at the
spindle end. If 0 is set in this parameter, the motor magnetic flux
down start speed (parameter No. 4103) converted for the spindle side
is assumed.

6542 3042 3042 4042 Velocity loop proportional gain on orientation (HIGH) CTH1A=0
6543 3043 3043 4043 Velocity loop proportional gain on orientation (LOW) CTH1A=1
Unit of data
Standard setting 10
These parameters specify velocity loop proportional gains on
orientation.

6550 3050 3050 4050 Velocity loop integral gain on orientation (HIGH) CTH1A=0
6551 3051 3051 4051 Velocity loop integral gain on orientation (LOW) CTH1A=1
Unit of data
Standard setting 10
These parameters specify velocity loop integral gains on orientation.
- 42 -

6556 3056 3056 4056 Gear ratio (HIGH) CTH1A=0, CTH2A=0
6557 3057 3057 4057 Gear ratio (MEDIUM HIGH) CTH1A=0, CTH2A=1
6558 3058 3058 4058 Gear ratio (MEDIUM LOW) CTH1A=1, CTH2A=0
6559 3059 3059 4059 Gear ratio (LOW) CTH1A=1, CTH2A=1
Unit of data Motor rotation per spindle rotation × 100

(Motor rotation × 1000 if bit 1 (GRUNIT) of parameter No. 4006 is
set to 1)
(33 to 30000 if bit 1 (GRUNIT) of parameter No. 4006 is set to 1)
Standard setting 100
This function supports any gear ratio in the range of 1:30 to 30:1.

6560 3060 3060 4060 Position gain on orientation (HIGH) CTH1A=0, CTH2A=0
6561 3061 3061 4061 Position gain on orientation (MEDIUM HIGH) CTH1A=0, CTH2A=1
6562 3062 3062 4062 Position gain on orientation (MEDIUM LOW) CTH1A=1, CTH2A=0
6563 3063 3063 4063 Position gain on orientation (LOW) CTH1A=1, CTH2A=1
Unit of data 0.01sec-1

These parameters specify position gains on orientation.

6564 3064 3064 4064 Deceleration time constant restriction ratio
Unit of data 1%
This parameter specifies a restriction ratio of deceleration time
constant in orientation from deceleration time constant restriction
start velocity (parameter Nos. 4326, 4330) or below.
- 43 -

6575 3075 3075 4075 Orientation completion signal detection level (in-position width)
Unit of data ±1 pulse unit

Standard setting 10
This parameter specifies the detection level of orientation completion
signal (ORARA). If the positional deviation falls within the specified
range, ORARA goes 1.

Unit of data ±1 pulse unit

Valid data range -4095 to 4095
Standard setting 0
This parameter specifies a shift value of orientation stop position.
Specifying a positive value shifts the spindle stop position
counterclockwise by the specified number of pulses.

Unit of data 1%
Standard setting Depends on the motor model
This parameter specifies the motor voltage in orientation. Usually, set
100 with hi-speed orientation.
- 44 -

6284 3464 3320 4320 Motor deceleration time constant (HIGH) CTH1A=0, CTH2A=0
6285 3465 3321 4321 Motor deceleration time constant (MEDIUM HIGH) CTH1A=0, CTH2A=1
6286 3466 3322 4322 Motor deceleration time constant (MEDIUM LOW) CTH1A=1, CTH2A=0
6287 3467 3323 4323 Motor deceleration time constant (LOW) CTH1A=1, CTH2A=1
Unit of data 10min-1/sec

Standard setting 0
These parameters specify motor deceleration time constants in high-
speed orientation. If 0 is specified, the high-speed orientation function
is disabled, and the normal orientation function is enabled.
The parameter settings are given as follows:
τ 60
Deceleration time constant = × × (0.8 to 0.9)
J 2π
where
τ (Nm) : Maximum motor torque at upper limit of orientation speed
(No. 4038)
J (kgm2): Motor inertia + Load inertia

6290 3470 3326 4326 eceleration time constant restriction start velocity (HIGH) CTH1A=0
6294 3474 3330 4330 eceleration time constant restriction start velocity (LOW) CTH1A=1
Unit of data 1min-1

Standard setting 0
This parameter specifies the motor speed at which the restriction of
deceleration time constant starts. If 0 is specified, the lowest
orientation speed internally calculated by the software is assumed.

6292 3472 3328 4328 Command multiplier for spindle orientation by a position coder
Unit of data
Standard setting 0
This parameter specifies a command multiplier for spindle orientation
function of incremental command external setting type. If 0 is set in
this parameter, 1 is assumed.
- 45 -
2.2.5 Internal Spindle Data Related to High-Speed Orientation
This subsection explains data related to high-speed orientation that

can be observed using the spindle check board (A06B-6078-H001).
For details of how to use the spindle check board, refer to
"Maintenance Manual."
(1) Motor speed (data number 19) and motor speed command (data
number 16)
The data indicates the speed and speed command for the spindle
motor. There are the following relationships between shifts and
check board output values (when the shift direction is set to 0
and the offset is set to 1):
Shift 15 16 17 18 19 20
-1
Output value (min /5V) 1024 2048 4096 8192 16384 32768
(2) Torque command (data number 90)

This data indicates the torque command for the motor. When the
shift is set to 8, the shift direction is set to 0, and the offset is set
to 1, the check board output value is 100%/2.5 V.
(3) Orientation sequence (data number 298)
This data indicates the sequence of high-speed orientation. When
the shift is set to 4, the shift direction is set to 1, and the offset is
set to 1, the check board output and each sequence block status
are as follows:
4.375V A: Before start of orientation
B: After the orientation command is
entered and the orientation speed is
reached until the one-rotation signal is
detected
C: Block in which linear deceleration is
performed with the specified
1.875V
deceleration time constant
D: Status in which the position loop is
closed
0.625V
E: Orientation completion (in-position)
0V status
A B C D E
(4) Position error (data number 136)

This data indicates the position error (4,096 pulses/rev) during
orientation. There are the following relationships between shifts
and check board output values (when the shift direction is set to
0 and the offset is set to 1):
Shift 0 1 2 3 4 5
Output value (Pulses/5V) 128 256 512 1024 2048 4096
Position error data is output only in sequence blocks C, D, and E.
In other blocks, a value of 0 is output.
(5) Orientation time (data number 305)
This data indicates the time between input and completion of the
orientation command. It is indicated in msec units on the check
board display (when the shift is set to 0, the shift direction is set
to 0, and display mode is set to 0).
- 46 -
2.2.6 Adjustment Procedure
Adjust the settings of parameters following the procedure below. The

motor deceleration capacity varies depending on the load inertia, so
mount a tool with the maximum expected inertia on the spindle during
adjustment. If a tool with the maximum inertial cannot be mounted on
the spindle, set a deceleration time constant with allowing for a
margin.
(1) Initializing parameters

Initialize parameters related to high-speed orientation as listed in the
following table:
No. Description Initial setting

4003#0 Select of orientation method 0
4003#3,2 Rotation direction on orientation Set 0,0 or 0,1.
Set an appropriate value according to
4006#1 Gear ratio setting unit
the system configuration.
4017#7 Shortcut function for orientation specified from the stop state
the application.
Velocity command compensation function in high-speed
4018#5 1
orientation
4018#6 High-speed orientation function 1
4031 Orientation stop position Set the stop position.
4038 Highest orientation speed 0
4042 to 4043 Velocity loop proportional gain on orientation 10
4050 to 4051 Velocity loop integral gain on orientation 10
4056 to 4059 Gear ratio
the system configuration.
4060 to 4063 Position gain on orientation 3000
4064 Deceleration time constant restriction ratio 100
4075 Orientation completion signal detection level
the application.
4077 Orientation stop position shift Set the stop position.
4084 Motor voltage on orientation 100
Adjust the setting according to the
4320 to 4323 Motor deceleration time constant
measured value.
4326,4330 Deceleration time constant restriction start velocity 0
4328 Command multiplication for orientation
the application.
- 47 -
NOTE
1 If the setting of the relationship between the rotation
directions of spindle and spindle motor (bit 0 of No.
4000) or mounting direction of the spindle sensor (bit
4 of No. 4001) is invalid, the motor continues rotating
at a constant speed and orientation is not complete.
2 If the setting of the gear ratio resolution (bit 1 of No.
4006) or gear ratio (Nos. 4056 to 4059) is invalid, the
orientation time may be abnormally long.
3 With a motor with the output switching function, if
you want to switch from the high-speed winding to
the low-speed winding during deceleration according
to the orientation command, set a value not greater
than the base speed of the low-speed winding for the
highest orientation speed (No. 4038).
If the sequence enters block C (in which linear
deceleration is performed with the time constant set
in the parameter) during high-speed winding
selection, the orientation time may be abnormally
long.
(2) Initializing deceleration time constants (Nos. 4320 to 4323)

On the actual machine, in velocity control mode (normal operation
mode), perform deceleration from the base speed ωB (see the
following expression):
Base speed ωB = No. 4102 × No. 4117/100 (when No. 4038 = 0)
= No. 4038 (when No. 4038 ≠ 0)
Set the initial value Tc of the deceleration time constant based on the
measured deceleration time using the following expression (see the
figure below):
Deceleration time constant = base speed/time from the base speed to
stop/10
(Unit: 10 min-1/sec)
Example of setting the initial value of the deceleration time constant
Base speed
Deceleration time from the base Motor speed

speed to stop (data number: 19)
Motor speed command

(data number: 16)
- 48 -
(3) Adjusting the velocity loop proportional gains (Nos. 4042 and 4043) and
velocity loop integral gains (Nos. 4050 and 4051)
Adjust the velocity loop proportional and integral gains with checking
the motor speed and torque command. After adjustment, they must be
the maximum allowable values (about 70% to 80% of the oscillation
limit) that do not cause oscillation in the state after completion of
orientation from the maximum spindle speed (sequence block E).
During adjustment, change each setting in units of 5 (in units of 2 for
a large-torque low-speed winding). Set the same value for the
proportional and integral gains.
(4) Adjusting the position gains

The position gains need not be adjusted in principle. The maximum
setting is 4000.
- 49 -
(5) Adjusting the deceleration time constants (Nos. 4320 to 4323)

Perform orientation from the maximum spindle speed and adjust the
deceleration time constants so that the torque command at the start of
linear deceleration of the motor (at the beginning of sequence block
C) does not cause saturation (see the figure below).
Example 1 of adjusting a deceleration
time constant (good example)
D D
C C
B B
A E E
Orientation sequence (data
number: 298)
Enlarged
25%
O.K.
Torque command
(data number: 90)
Example 2 of adjusting a deceleration

time constant (bad example)
Enlarged
N.G.
- 50 -
(6) Adjusting the deceleration time constant restriction ratio (No. 4064)
(a) Determining whether adjustment of the deceleration time constant restriction

ratio is required
Perform orientation from the base speed ωB (see the figure below).
At this time, if the torque command causes saturation in sequence
block C or D, adjustment of the deceleration time constant restriction
ratio is required. When the torque command does not cause saturation,
adjustment of orientation is now complete.
When adjustment is required When adjustment is not required
D
C
B
A
E
Orientation sequence
(data number: 298)
25%
Torque command No saturation

(data number: 90) occurs.
Saturation occurs.
(b) Adjusting the deceleration time constant restriction ratio

Set the value obtained using the following expression for the
deceleration time constant restriction start velocity ωLS (Nos. 4226
and 4330):
Deceleration time constant restriction start velocity ωLS = 1.1 × base
speed ωB
Reduce the deceleration time constant restriction ratio (No. 4064)
until the torque command does not cause saturation at the end of
sequence block C and in sequence block D, to adjust the ratio. At this
time, there is no problem if the torque command slightly causes
saturation at the beginning of sequence block C (see the figure
below).
Example 1 of adjusting the deceleration time Example 2 of adjusting the deceleration time
constant restriction ratio (bad example) constant restriction ratio (good example)
D
C
B
A E
(data number: 298)
25%
Torque command
(data number: 90)
N.G. O.K.
O.K.
- 51 -
(7) Adjusting the deceleration time constant restriction start velocity (Nos.
4326 and 4330)
If you adjust the deceleration time constant restriction ratio according
to the instructions described above, then adjust the deceleration time
constant restriction start velocity.
(a)Adjusting the deceleration time constant restriction start velocity (Nos. 4326 and
4330)
Determining whether adjustment of the deceleration time constant
restriction start velocity is required
Perform orientation from the deceleration time constant restriction
start velocity ωLS that is initialized at adjustment of the deceleration
time constant restriction ratio + 10 min-1 (see the figure below). If the
torque command causes saturation in sequence block C or D at this
time, adjustment of the deceleration time constant restriction start
velocity is required.
When the torque command does not cause saturation, adjustment of
orientation is now complete.
When adjustment is not required When adjustment is required
D
C
B
A E
(data number: 298)
Torque command 25%

(data number: 90)
O.K. N.G.
(b) Adjusting the deceleration time constant restriction start velocity

Increase the deceleration time constant restriction start velocity (Nos.
4326 and 4330) until the torque command does not cause saturation at
the end of sequence block C and in sequence block D when
orientation from the deceleration time constant restriction start
velocity ωLS + 10 min-1 is performed, to adjust the velocity. As in the
case of (6), there is no problem if the torque command slightly causes
saturation at the beginning of sequence block C.
- 52 -
2.3 RIGID TAPPING
A. Check that normal operation is possible.
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 bult-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 integration 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.
- 53 -
(a) Series 16i/16

TT-HEAD2 7 6 5 4 3 2 1 0
G028 G1028 GR2 GR1
G061 G1061 RGTAP
SWS2 SWS1
G027 G1027
(*1) (*1)
GR21
G029 G1029
(*2)
G070 G1070 SFRA CTH1A CTH2A
(*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.
(b) Series 15i

7 6 5 4 3 2 1 0
G026 SPSTP
G227 SFRA CTH1A CTH2A
(c) Series 15
7 6 5 4 3 2 1 0
G026 SPSTP
G227 SFRA CTH1A CTH2A
(d) Series 0
0TT
HEAD2 7 6 5 4 3 2 1 0
GR2 GR1
G118 G1318
(*1) (*1)
GR2 GR1 RGTPN
G123 G1323
(*2) (*2) (*3)
RGTAP
G135 G1335
(*4)
GR21 SWS2 SWS1
G145 G1345
(*6) (*5) (*5)
G229 G1429 SFRA CTH1A CTH2A
- 54 -
NOTE
1 This signal is effective when parameter 0031#5=0 in
the T series.
2 This signal is effective when parameter 0031#5=1 in
the T series. This signal is also effective when M
series with the surface speed constant control
option.
3 This signal is effective when parameter 0019#4=0
(This signal is always effective only for T/TT series.)
4 This signal is effective when parameter 0019#4=1
(This signal is ineffective for T/TT series.)
5 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.
6 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.
(a) Series 16i/16

7 6 5 4 3 2 1 0
F034 GR3O GR2O GR1O
(*1)
(b) Series 15i

7 6 5 4 3 2 1 0
F040 RTAP
(c) Series 15
7 6 5 4 3 2 1 0
F040 RTAP
(d) Series 0
7 6 5 4 3 2 1 0
F152 GR3O GR2O GR1O
(*1)
NOTE
(*1) These signals are effective when M series.
- 55 -
Parameter No.
0M/T/TT 16i/16 Description
15M/T 15i
Fst. sp Snd. sp M/T/TT
0256 - - 5210 M code of rigid tapping command
0031#5(T) - - - Address selection of gear signal
0019#4(M) - - - Input signal selection of rigid tapping
0028 3706
#7,6 0064 #1,0 Gear ratio between spindle and position
5610 -
0003 #7,6 3707 coder, 1:1, 1:2, 1:4, 1:8
#7,6 #1,0
Rigid tapping using the arbitrary gear ratio
6506#7 6646#7 3006#7 3006#7 4006#7
(command) in the built-in sensor in the motor
- - 5842 - Number of pulse of the position coder
0063#3(M) 5604 Selection of arbitrary gear ratio between
5200#1
0063#6(T) #2,1 spindle and position coder
(M) 5852 5221
0663 (T) 5703 5855 5222 Teeth number of spindle side at arbitrary gear
0664 0427 to 0430 5771 to 5774 5858 5223 ratio (command) setting
0665 5861 5224
(M) 5851 5231
0666 (T) 5704 5854 5232 Teeth number of position coder side at
0667 0431 to 0434 5781 to 5784 5857 5233 arbitrary gear ratio (command) setting
0668 5860 5234
Gear ratio between spindle and motor
6556 to 6559 6696 to 6699 3056 to 3059 3056 to 3059 4056 to 4059 (It is selected by input signal CTH1A or
CTH2A)
(M)
0615 (T)
3065 to 5280
0669 0406 to 3065 to 3068 Position gain of tapping axis at rigid tapping
3068 5281 to 5284
0670 0410
0671
Position gain of spindle at rigid tapping
6565 to 6568 6705 to 6708 3065 to 3068 3065 to 3068 4065 to 4068 (It is selected by input signal CTH1A or
CTH2A)
0037#6 - - - Stepless time constant selection
0254 5605#1 5605#1 - Acc/Dec type
5605#2 5605#2
5261
5751 5751
(M) (T) 5262
5760 5886 Acc/Dec time constant
0613 0415 to 0418 5263
5762 5889
5264
5764 5892
5605#2
5605#2 5757 5241
(M) (T) 5757 5884 5242
Spindle maximum speed at rigid tapping
0617 0423 to 0426 5758 5887 5243
5759 5890 5244
5893
- 56 -
Parameter No.
0M/T/TT 16i/16 Description
15M/T 15i
Fst. sp Snd. sp M/T/TT
5605#2
5605#2 -
5752
5752 -
(M only) 5885 Low end speed at exponential type
5761 -
0614 5888 (FL speed)
5763 -
5891
5765 -
5894
0063#4 - - 5200#4 Override selection at extracting
0258 - 5883 5211 Override value at extracting
5201#2
- - - Time constant at extracting
5271 to 5274
0618 1827 1827 5300 In-position width of tapping axis
0619 5755 5875 5301 In-position width of spindle
0620 1837 1837 5310 Alowable level of position error of tapping
5341 axis at moving
Alowable level of position error of spindle at
0621 5754 5876 5311
moving
Alowable level of position error of tapping
0622 - 1829 5312
axis at stop
Alowable level of position error of spindle at
0623 - 5877 5313
stop
5853
5604#2
(M) (T) 5856
5756 5321 to 5324 Backlash of spindle
0255 0214 to 0217 5859
5791 to 5794
5862
Velocity loop proportional gain at rigid
6544 6684 3044 3044 4044
tapping (It is selected by input signal
6545 6685 3045 3045 4045
CTH1A/B.)
6552 6692 3052 3052 4052 Velocity loop integral gain at rigid tapping (It
6553 6693 3053 3053 4053 is selected by input signal CTH1A/B.)
6585 6725 3085 3085 4085 Motor voltage at rigid tapping
6901 6941 3281 3137 4137 Motor voltage at rigid tapping (low speed)
6599 6739 3099 3099 4099 Delay time for stable motor excitation
NOTE
Chapter 1.
- 57 -
(1) Specified arbitrary gear ratio

(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 specified arbitrary gear ratio is used.

When the position detector is connected to the spindle at a
ratio of 1:1, the specified arbitrary gear ratio is not used.
Motor
Spindle +
built-in motor
Spindle
BZi sensor
(directly connected to the spindle)
α position coder
(connected to the spindle at a ratio of 1:1)

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 specified arbitrary gear
ratio is used.
CNC SPM
Arbitrary gear Position

ratio command Position Motor
(command) control
Spindle
Position feedback

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 detected arbitrary gear
ratio is used, and the specified arbitrary gear ratio is not
used.
- 58 -
CNC SPM
Position
command Position Motor
control
Arbitrary gear Spindle

ratio
(command)
(b) To use the specified arbitrary gear ratio, set the following
parameters:
0 0
15 16i/16
T/M/TT T/TT 15i Setting data
T/M T/M/TT
Fst. sp Snd. sp
6506#7 6646#7 3006#7 3006#7 4006#7 1
0: The arbitrary gear ratio (specified) is not used.
1: Rigid tapping is performed using the arbitrary gear ratio
(specified) with the sensor built into the motor.
(c) Set the parameters to enable the specified arbitrary gear ratio
(arbitrary gear ratio between the spindle and position coder).
0 0 15 16i/16
15i
M T/TT T/M T/M/TT
0063#3 0063#6 5604#2, 1 - 5200#1
(d) Set the parameter "the arbitrary gear ratio between the spindle
and the position coder" according to each CNC.
[Series 16i/16]
- Set the gear teeth number of the spindle side.
Each parameter is selected according to the gear
selection signal.
Standard machining: GR3O, GR2O, GR1O
Turning and maching with surface speed constant
option: GR2, GR1
Second spindle of turning: GR21
(Multi- spindle control option is needed)
Standard machining [M series] Turning [T/TT series] and maching [M series] with
surface speed constant
Gear signal Gear signal
Parameter No. Parameter No.
GR1O GR2O GR3O Fst. sp Snd. sp
1 0 0 5221 GR1 GR2 GR21 T/TT M
0 1 0 5222 0 0 0 5221
0 0 1 5223 1 0 1 5222
0 1 - 5223
1 1 - 5224 5223
- 59 -
- Set the gear teeth number of the position coder side.

selection signal.
Turning [T/TT series] and maching[M series] with
surface speed constant option: GR2, GR1
Second spindle of turning [T/TT series] : GR21
1 0 0 5231 GR1 GR2 GR21 T/TT M
0 1 0 5232 0 0 0 5231
0 0 1 5233 1 0 1 5232
0 1 - 5233
1 1 - 5234 5233
[Series 15i]
Gear signal Parameter No.
Gear teeth number of Gear teeth number of
CTH1A CTH2A
spindle side position coder side
0 0 5852 5851
0 1 5855 5854
1 0 5858 5857
1 1 5861 5860
[Series 15]
- Only one arbitrary gear ratio parameter is valid in case
of 5604#1=1, 5604#2=0.
Parameter Parameter No.

Gear teeth number of spindle side 5703
Gear teeth number of position coder side 5704
- Four kinds of arbitrary gear ratio parameters are valid

in case of 5604#2=1.
selection signal (CTH1A, CTH2A)

Gear teeth number of Gear teeth number of
CTH1A CTH2A
spindle side position coder side
0 0 5771 5781
0 1 5772 5782
1 0 5773 5783
1 1 5774 5784
- 60 -
[Series 0]
- Set the gear teeth number of the spindle side.
selection signal.
1 0 0 663 GR1 GR2 GR21 T/TT M
0 1 0 664 0 0 0 427 663
0 0 1 665 1 0 1 428 664
0 1 - 429 665
1 1 - 430
- Set the gear teeth number of the position coder side.

selection signal.
1 0 0 666 GR1 GR2 21GR T/TT M
0 1 0 667 0 0 0 431 666
0 0 1 668 1 0 1 432 667
0 1 - 433 668
1 1 - 434
- 61 -
(2) Gear ratio between the spindle and the motor

The loop gain constant parameter is not used in the αi series (Serial)
spindle system.
HGear ratio between the spindle and the motorIparameter should be
set instead of it.
Each parameter is selected according to the gear selection signal
(CTH1A/B, CTH2A/B).
[0M/T/TT Fst. sp, 15M/T, 15i, 16i/16-T/M/TT Fst. sp]
0M/T/TT 16i/16T/M/TT
CTH1A CTH2A 15M/T 15i
Fst. sp Fst. sp
0 0 6556 3056 3056 4056 (S1)
0 1 6557 3057 3057 4057 (S1)
1 0 6558 3058 3058 4058 (S1)
1 1 6559 3059 3059 4059 (S1)
[0T/TT Snd. sp, 16(18)T/TT Snd. sp]

0M/T/TT 16(18)T/M/TT
CTH1B CTH2B
Snd. sp Snd. sp
0 0 6696 4056 (S2)
0 1 6697 4057 (S2)
1 0 6698 4058 (S2)
1 1 6699 4059 (S2)
- 62 -
(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.
When fine acceleration/deceleration (FAD) is used for the tapping
axis according to the setting, the position gain of the tapping axis
must be changed. (Refer to "AC SERVO MOTOR αi series
DESCRIPTIONS" (B-65262EN).)
(a) Series 16i/16

The position gain parameter of the tapping axis in the rigid tapping is
selected as follows according to the gear selection signal.
Turning [T/TT series] and maching [M series] with surface speed
constant option: GR2, GR1
Second spindle of turning [T/TT series]: GR21(Multi-spindle control
option is needed)
5280 (*1) GR1 GR2 GR21 T/TT 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
(*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 hte gear selection signal (CTH1A/B,
CTH2A/B). (This is common T series and M series)
[Fst. sp] [Snd. 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)
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.
- 63 -
(b) 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
(c) Series 15
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
(d) Series 0
The position gain parameter of the tapping axis in the rigid tapping is
selected as follows according to the gear selection signal.
Turning and maching with surface speed constant option: GR2, GR1
Second spindle of turning: GR21
615 (*1) GR1 GR2 GR21 T/TT M
1 0 0 669 (*1) → 406 615
0 1 0 670 0 0 0 407 669
0 0 1 671 1 0 1 408 670
0 1 409 671
1 1 410
(*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.
- 64 -
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 of T series and M series)
[Fst. sp] [Snd. sp]

CTH1A CTH2A CTH1B CTH2B
0 0 6565 0 0 6705
0 1 6566 0 1 6706
1 0 6567 1 0 6707
1 1 6568 1 1 6708
Take care to input the gear selection signals 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.
(4) Acceleration/deceleration time constant
(a) Series 16i/16

i) 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/TT series] and Machining [M series] with surface
speed constant : GR2, GR1
Snd. sp of Turning [T/TT series] : GR21 (Multi- spindle control
option is needed)
Standard machining [M series]

Gear signal Spindle max.
Time constant Time constant
speed at rigid
(Cutting in) (Cutting out)
GR1O GR2O GR3O tapping
Parameter No.
1 0 0 5261 5271 5241
0 1 0 5262 5272 5242
0 0 1 5263 5273 5243
- 65 -
Turning [T/TT series] and maching [M series] with

Gear signal Spindle max. speed at
rigid tapping
Fst. sp Snd. sp (Cutting in) (Cutting 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) -
(*1) This is not available for Machining (M series).
ii) 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)
(b) Series 15i

i) Acc/Dec type
5605 #1
0 : Exponential type Acc/Dec
1 : Linear type Acc/Dec (Standard setting)
ii) 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.
Acc/Dec time
Spindle speed
constant
Gear 1 5886 5884
Gear 2 5889 5887
Gear 3 5892 5890
Gear 4 - 5893
(c) Series 15
i) Acc/Dec type
5605 #1
0: Exponential type
1: Linear type Acc/Dec (Standard setting)
- 66 -
ii) Setting of "Low end speed of exponential type Acc/Dec" (It is

valid for exponential type Acc/Dec)
<1> When 5605#2=0, the same parameter data is used for all
gear and the address is set.
5752
<2> When 5605#2=1, each parameter can be set for each gear.
Each parameter is selected according to the gear signal
(CTH1A, CTH2A) .
Gear signal
Parameter No.
CTH1A CTH2A
0 0 5761
0 1 5763
1 0 5765
iii) Set Acc/Dec the time constant of the tapping axis and the
spindle.
<1> When 5605#2=0, the same parameter data is used for all
gear.
The time to get to the spindle maximum speed at the rigid
tapping is set.
Acc/Dec time constant 5751

Spindle maximum speed 5757
<2> When bit 2 of parameter No. 5605 is set to 1, one of the

three acceleration/deceleration time constants is selected,
depending on the spindle speed. When a spindle speed is
specified, appropriate parameters are set automatically.
Parameter No. for Parameter No. for

maximum spindle speed acceleration/deceleration
for rigid tapping time constant
Gear 1 5757 5760
Gear 2 5758 5762
Gear 3 5759 5764
(d) Series 0
i) Set the steplessly switched time constant.
M T/TT
0037#6 (*1)
0: Time constant is not steplessly switched in rigid tapping.
1: Time constant is steplessly switched in rigid tapping.
(Normal setting)
(*1) In T/TT series, the time constant is always steplessly
switched in rigid tapping.
- 67 -
ii) Set "Acc/Dec type"
M T/TT
254 (*1)
0 : Exponential Acc/ Dec
1 : Linear Acc/ Dec (Standard setting)
(*1) Only linear Acc/ Dec is applied to T/TT series.
iii) "Low end speed at rigid tapping exponential Acc/Dec" is set to

the following address and is applied to all gear state.
(It is ralid only for exporential Acc/Dec)
M T/TT
614 (*1)
(*1) This function is not valid to T/TT series.
iv) The time constant of the tapping axis and the spindle is set on
machining (M series) and Turning (T/TT series) as follows.
The time to get to the spindle maximum speed at the rigid
tapping is set.
[M series]
Each gear time constant becomes valid by setting the
parameter below.
0077 #1
0: The same time constant for all gear
1: Each time constant for each gear
By setting the following parameter, the different time

constant between the cutting in and cutting out (extracting)
becomes available.
0035 #5
0 : The same time constant between cutting in and out.
1 : The different time constant between cutting in and out.
As an summary, refer to the table belows.
Valid at 35#5=1
Gear signal
With surface Time constant Time constant Rigid tapping
Standard Machining speed (Cutting in) (Cutting out) spindle max.
[M series] constant Parameter No. Parameter No. speed
option. Parameter No.
GR1O GR2O GR3O GR1 GR2 77#1=0 77#1=1 77#1=0 77#1=1
1 0 0 0 0 692 400
0 1 1 1 0 613 693 402 401 617
0 0 1 0 1 613 402
- 68 -
[T/TT series]
Set the parameters as below according to the gear selection
signal.
Fst. sp: GR2, GR1
Snd. sp: GR21 only(Multi-spindle control option is needed)
By setting the following parameter, the different time

constant between the cutting in and cutting out (extracting)
becomes available.
0029 #3
0: The same time constant between cutting in and out.
(No. 415 to 418)
1: The different time constant between cutting in and out.
Cutting in : No. 415 to 418
Cutting out : No. 419 to 422
Gear signal Rigid tapping

Fst. sp Snd. sp spindle max.
(Cutting in) (Cutting out)
speed
GR1 GR2 GR21 Parameter No. Parameter No.
Parameter No.
0 0 0 415 419 423
1 0 1 416 420 424
0 1 417 421 425
1 1 418 422 426
v) The override at extracting
0063 #4
0: The override at extracting is not valid.
1: The override at extracting is valid.
(The override value is set to No. 258)
- 69 -
2.3.5 Adjustment Procedure
(1) Parameters used for adjustment

The table below lists and describes the parameters used for adjusting
rigid tapping.
Parameter No.(FS16i/16) Description

Maximum spindle speed in rigid tapping (Depends on the GR signal. 5244 is for the
5241 to 5244
T series only.)
Acceleration/deceleration time constant in rigid tapping (Depends on the GR signal.
5261 to 5264
5264 is for the T series only.)
Position gain of tapping axis in 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 in rigid tapping (depends on CTH1 and CTH2 signals)
4044 to 4045 Velocity loop proportional gain in rigid tapping (depends on CTH signal)
4052 to 4053 Velocity loop integral gain in rigid tapping (depends on CTH signal)
4085 Motor voltage in rigid tapping (for high speed characteristics) Specify 100.
4137 Motor voltage in rigid tapping (for low speed characteristics) Specify 100.
4099 Delay time for motor excitation. Specify a value around 300 to 400.
4016#4 Control properties settings in rigid tapping. (Set "0" as normal.)
(2) Spindle data used for adjustment

Adjust the parameters while observing the motor speed, torque
command, velocity deviation, synchronization error, and other
waveform by using a spindle check board and oscilloscope. The table
below lists spindle check board settings for observing the waveform.
Check board setting address

Settings Observing data
Output to CH1 Output to CH2
d-05 d-09 25 Velocity deviation
-1
d-06 d-10 12 ±128 min at ±5 V
-1
d-07 d-11 0 ±256min 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 Synchronization error (value converted for the spindle:
d-06 d-10 0 4096 pulses/rev)(*1)
±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
-1
d-06 d-10 18 ±8192 min at ±5 V
-1
d-07 d-11 0 ±4096 min at ±5 V if d-06 (d-10) is set to 17
-1
d-08 d-12 1 ±2048 min at ±5 V if d-06 (d-10) is set to 16
*1 When observing the synchronization error of Series 16i/16, set
the following parameters:
No. 3700, #7 = 1:
Uses the synchronization error output (maintenance
function).
(Return the setting to 0 after the observation is completed.)
- 70 -
No. 5203, #7 = 1 :
Sets a synchronization error update cycle.
(Return the setting to 0 after the observation is completed.)
No. 5204, #0 = 0 :
Displays the synchronization error on the diagnosis screen.
Synchronization error can not be observed in the Series 0.
(3) Adjustment procedure
(3)-1Specifying an acceleration/deceleration time constant (1):
Specifying a provisional value
Before optimizing the acceleration/deceleration time constant,
adjust the gain to improve the response. Following (a) or (b)
below, specify a provisional acceleration/deceleration time
constant according to the target maximum speed.
(a) Specifying a provisional time constant according to the

velocity waveform in actual acceleration/deceleration
Observe the motor velocity waveform (velocity control
mode) in acceleration up to the maximum rigid tapping
speed. Specify such a provisional time constant that the
inclination (acceleration) during rigid tapping acceleration
becomes about a half of the inclination of a tangent to the
motor velocity waveform near the location of maximum
speed. See the sample waveform shown below.
Nr: Maximum rigid tapping speed (Nos. 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
Nr (Nos. 5261 to 5264) 800 ms, which is two times ta, in
(19.17.0.1)
this example
4096 min-1 / 5V
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.
- 71 -
(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 in rigid
tapping (Nos. 5261 to 5264)
-1
Nr[min ]: Maximum spindle speed in rigid tapping (Nos.
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 in rigid tapping
PG [sec-1]: Position gain in 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
(3)-3 Specifying a velocity loop gain

Specify the maximum velocity loop gain that does not cause the
motor at rest to vibrate. Adjust the velocity loop gain so that the
velocity deviation decreases.
During the adjustment, observe the velocity deviation and motor
speed. Sample waveforms before and after the adjustment are
shown below:
- 72 -
(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

(25.12.0.1),12.5 min-1/div (25.12.0.1),12.5 min-1/div
CH2 : Motor speed CH2 : Motor speed

(19.17.0.1),2048 min-1/div (19.17.0.1),2048 min-1/div
(3)-4 Specifying an acceleration/deceleration time constant (2) :

Specifying an optimum value
Observing the torque command and motor speed, make a final
adjustment of the time constant. Adjust the time constant in
consideration of the actual cutting load, so that the peak torque
at air cut becomes about 70% to 80% (3.5 to 4.0 V) of the
maximum value. Sample waveforms before and after the
adjustment are shown below:
(a) Waveform before adjustment (No. 5261 = 800) (b) Waveform after adjustment (No. 5261 = 480)
CH1 : Torque command CH1 : Torque command

(90.7.0.1) , 50% / div (90.7.0.1) , 50% / div
CH2 : Motor speed CH2 : Motor speed

(19.17.0.1),2048 min-1 / div (19.17.0.1),2048 min-1 / div
(3)-5Checking the synchronization error

The spindle adjustment ends when the adjustments described in
above procedures are completed. After the spindle adjustment,
check the synchronization error between the spindle and servo
axis, which will be an index of rigid tapping precision.
The synchronization 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]:Synchronization error
(4096 pulses per spindle rotation)
PERsp [pulse]:Spindle position error
PERsv [pulse]:Servo axis position error converted for the spindle
- 73 -
2.3.6 Diagnosis
(1) Series 16i/16

Address Description Unit
0300 Position error pulse of the tapping axis Pulse
0450 Position error pulse of the spindle Pulse
0451 Interpolation pulse of the spindle Pulse
0454 Integrated interpolation pulse of the spindle Pulse
Difference of move command converted for the
0455 Pulse
spindle (instantaneous)
Difference of positional deviation converted for the
0456 Pulse
spindle (instantaneous)
0457 Width of synchronization error Pulse
(2) Series 15
Address Description Unit
Position error pulse of the tapping axis Pulse
3000
Position error pulse of the spindle Pulse
(3) Series 0
Diagnosis Description
number Unit
M T M T
0800 0800 Position error of X axis Position error of X axis Pulse
0801 0801 Position error of Y axis Position error of Z axis Pulse
0802 Position error of Z axis Pulse
The contents below is shown in the paramter display.

The parameter address below is used for monitoring.
Parameter No.
Description Unit
M T
0627 0435 Position error pulse of the spindle Pulse
0628 0436 Interpolation pulse of the spindle Pulse
Instant value of the position error difference
0696 0437 %
between the tapping axis and the spindle
Maximum value of the position error
0697 0438 difference between the tapping axis and the %
spindle
0799 Integrated interpolation pulse of the spindle Pulse
- 74 -
2.3.7 Alarm
(1) Program error (P/S Alarm)
(a) Series 0, Series 16i/16

Alarm
Description
number
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.
The axis move command is inserted between M29 and G84
204
(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.
(2) Servo Alarm
(a) Series 0
Alarm
Description
number
4x0 The position error of the tapping axis or the spindle at stop
(*1) exceeds (623) the alarmlevel.
4x1 The position error of the tapping axis or the spindle at
(*1) moving exceeds (621) the alarmlevel.
(*1) x=1, 2, 3 is corresponding to the tapping axis.
In (M series), 1=X, 2=Y, 3=Z, In Turning, 1=X, 2=Z.
These alarms of the spindle are common with the tapping axis.
(b) Series 15
Alarm
Description
number
The position error of the tapping axis at stop exceeds the
SV008
alarm level.
The position error of the tapping axis at moving exceeds the
SV009
alarm level.
The position error of the spindle exceeds the alarm level
SV31
(5757)
(c) Series 15i

Alarm
Description
number
The position error during spindle rotation is larger than the
SP0231
predetermined value.
The position error while the spindle is at rest is larger than
SP0232
the predetermined value.
- 75 -
(d) Series 16i/16

Alarm
Description
number
The position error of the tapping axis or the spindle at stop
410
exceeds the alarmlevel.(5313)
The position error of the tapping axis or the spindle at
411
moving exceeds the alarmlevel.(5311)
Position error at rest on the spindle side is larger than the
740
predetermined value (No. 5313).
Position error during movement on the spindle side is larger
741
than the predetermined value (No. 5311).
- 76 -
2.4 Cs CONTOURING CONTROL
A. Check that the system is ready to start normal operation.
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 feed 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
- 77 -
2.4.2 Related I/O Signals
0 15 15i 16i/16 7 6 5 4 3 2 1 0
G123 CON COFF
(M) (T)
G027 CON
(T/M)
G67, G67, SCNTR

71.. 71.. 1, 2 . .
G229 G227 G070 MRDYA ORCMA SFRA SRVA CTH1A CTH2A TLMHA TLMLA
G230 G226 G071 RCHA RSLA INTGA SOCNA MCFNA SPSLA *ESPA ARSTA
0 15 15i 16i/16 7 6 5 4 3 2 1 0
F178 F044 FSCSL
F67, G67, MCNTR

1, 2 . .
71.. 71..
F281 F229 F045 ORARA TLMA LDT2A LDT1A SARA SDTA SSTA ALMA
F282 F228 F046 RCFNA RCHPA CFINA CHPA
- 78 -
Parameter No.
Description
0T 0M 15 15i 16i/16
3 axes 4 axes 1804#7 1804#7 Specifies the axes subject to Cs contouring control.
1006#0 1006#0 1006#0 Setting of Rotary axis
1020 1020 1020 Program axis name
1023 1023 1023 Servo axis number
1028 - Spindle number of Cs contour control axis
1260 - Movement per rotation of rotation axis
5843 - Number of pulses of position detector for Cs contour control
Specify "High-resolution pulse coder is not used." for this
0037#7 1804#0 -
parameter.
Specify "Separate pulse coder is not used." for this
0037#3,2 1815#1
parameter.
Specify "Other than absolute-position detector" for this
0021#3, 2 1815#5
parameter.
5609 5609 Specifies whether to automatically set a position gain for
- -
#1,0 #0 those axes that are not under Cs contouring control.
6569 3069 3069 4069 Position gain for axes subject to Cs contouring control
to to to to (A parameter is selected by the CTH1A and CTH2A input
6572 3072 3072 4072 signals sent from the PMC.)
Position gain for those axes that are not controlled under Cs
5609 3900
5609 contouring control
6780 to 6799 #0 to
#0 (A parameter is selected by the CTH1A and CTH2A input
#1 3944
signals sent from the PMC.)
0102 0103 1820 1820 1820 Specify 2 (= 1 time) for command multiplication.
Specifies whether to enable the reference position return
0065#1 1005#0 3700#1 function for the first G00 command received after switching to
Cs contouring control.
0520 0521 1420 1420 1420 Rapid traverse rate
0561 0562 1423 1423 1423 Jog feedrate
- - 1422 1422 1422 Maximum cutting feedrate
Linear acceleration/deceleration time constant for cutting
0635 1622 1628
feed (option)
0524 0525 1620 1620 1620 Linear acceleration/deceleration time constant for rapid feed
0502 0503 1827 5879 1826 Effective area
0506 0507 1828 5880 1828 Position error limit during movement
0595 0596 1829 5881 1829 Position error limit when stopped
- - 1830 5882 - Position error limit when the servo system is off
0332 0333 1832 1832 Position error limit at feed stop
- 79 -
Parameter No.
Description
0 15 15i 16i/16
6521 3021 3021 4021 Maximum spindle speed in Cs contouring control mode
6500#3 3000#3 3000#3 4000#3 Direction of reference position return when the system enters Cs
contouring control mode for the first time after the power is turned on
6500#1 3000#1 3000#1 4000#1 Spindle rotation direction for a positive motion command in Cs
contouring control mode
6502#4 3002#4 3002#4 4002#4 Rotation direction signal function in Cs contouring control mode
6516#4 3016#4 3016#4 4016#4 Setting of the control characteristic for Cs contouring control (Normally,
set 0.)
6546 3046 3046 4046 Proportional gain of the velocity loop in Cs contouring control mode
6547 3047 3047 4047 (A parameter is selected by the CTH1A input signal sent from the PMC.)
6554 3054 3054 4054 Integral gain of the velocity loop in Cs contouring control mode
6555 3055 3055 4055 (A parameter is selected by the CTH1A input signal sent from the PMC.)
6556 3056 3056 4056 Spindle-to-motor gear ratio
to to to to (A parameter is selected by the CTH1A and CTH2A input signals sent
6559 3059 3059 4059 from the PMC.)
6574 3074 3074 4074 Feedrate for reference position return in Cs contouring control mode
6586 3086 3086 4086 Motor voltage in Cs contouring control mode (Normally, set 100.)
6592 3092 3092 4092 Rate of change in the position gain when reference position return is
performed in Cs contouring control mode
6594 3094 3094 4094 Disturbance torque compensating constant (acceleration feedback gain)
6597 3097 3097 4097 Spindle speed feedback gain
6599 3099 3099 4099 Motor excitation delay
6635 3135 3135 4135 Grid shift in Cs contouring control mode
- 80 -
0 15 15i 16i/16 RETRN ROTA2

6500 3000 3000 4000 #7 #6 #5 #4 #3 #2 #1 #0
ROTA2 Indicates the spindle direction by the move command (+). (Only
effective in Cs contouring control)
0 : Rotates the spindle in CCW (counter clockwise) direction.
1 : Rotates the spindle in CW (clockwise) direction.
RETRN Indicates the reference point return direction in Cs contouring control.

0 : Returns the spindle from the CCW direction to the reference
point (counter clockwise direction).
1 : Returns the spindle from the CW direction to the reference point
(clockwise direction).
0 15 15i 16i/16 CSDRCT

6502 3002 3002 4002 #7 #6 #5 #4 #3 #2 #1 #0
CSDRCT Setting of the rotation direction signal (SFR/SRV) function when Cs

contouring control is used.
0 : Rotation direction function enabled
When bit 1 (ROTA2) of parameter No. 4000 is 0
With a + motion command, the spindle rotates
counterclockwise when SFR = 1, and the spindle rotates
clockwise when SRV = 1.
With a + motion command, the spindle rotates clockwise
when SFR=1, and the spindle rotates counterclockwise when
SRV=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.
counterclockwise when SFR = 1 or SRV = 1.
when SFR = 1 or SRV = 1.
0 15 15i 16i/16 RFCHK1 CMTVL FFSMTH

6516 3016 3016 4016 #7 #6 #5 #4 #3 #2 #1 #0
FFSMTH Specifies whether to use the smoothing function under feed forward
control.
0 : Uses the smoothing function.
1 : Does not use the smoothing function.
This bit specifies whether to use the smoothing function under feed
forward control in Cs contouring control mode.
- 81 -
CMTVL Specifies the control characteristic in Cs contouring control mode.

Normally, set this bit to 0. Check that 100 is specified for the
parameter for the motor voltage in Cs contouring control mode
(parameter No. 4086).
When a value of less than 100 is to be specified in the motor voltage
parameter (No. 4086), set this bit to 1.
RFCHK1 Determines whether to detect alarms related to position feedback (in

Cs contour control mode).
1 : Detects alarms.
0 15 15i 16i/16 Maximum speed in Cs contouring control mode

6521 3021 3021 4021
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 in
Cs contouring control mode.
When 0 is specified as the parameter for the feedrate for reference
position return in Cs contouring control mode (parameter No. 4074),
reference position return is performed at the speed specified as the
maximum speed in this parameter.
0 15 15i 16i/16 Feedforward coefficient

6536 3036 3036 4036
Unit of data : 1%
Set the feedforward coefficient when feedforward control is executed
in servo mode and Cs contouring control.
0 15 15i 16i/16 Velocity loop feedforward coefficient

6537 3037 3037 4037
Unit of data :
Set the velocity loop feedforward coefficient when feedforward
control is executed in servo mode and Cs contouring control.
- 82 -
0 15 15i 16i/16 Velocity loop proportion gain in Cs contouring control (HIGH) CTH1A=0
6546 3046 3046 4046
0 15 15i 16i/16 Velocity loop proportion gain in Cs contouring control (LOW) CTH1A=1
6547 3047 3047 4047
Unit of data :
These parameters specify the proportional gains of the velocity loop
in Cs contouring control mode.
A parameter is selected by the CTH1A input signal.
Increasing these parameters and the velocity loop integral gain
parameters (No. 4054 and 4055) improves rigidity in Cs contour
cutting.
Note that, however, setting too large a value for these parameters will
produce oscillation.
Set 70% to 80% of the oscillation limit.
0 15 15i 16i/16 Velocity loop integral gain in Cs contouring control (HIGH) CTH1A=0
6554 3054 3054 4054
0 15 15i 16i/16 Velocity loop integral gain in Cs contouring control (LOW) CTH1A=1
6555 3055 3055 4055
Unit of data :
These parameters specify the integral gains of the velocity loop for Cs
contouring control mode.
A parameter is selected by the CTH1A input signal.
Increasing these parameters and the velocity loop proportional gain
parameters (No. 4046 and 4047) improves rigidity in Cs contour
cutting.
- 83 -
0 15 15i 16i/16 Gear ratio (HIGH) CTH1A=0, CTH2A=0

6556 3056 3056 4056
0 15 15i 16i/16 Gear ratio (MEDIUM HIGH) CTH1A=0, CTH2A=1

6557 3057 3057 4057
0 15 15i 16i/16 Gear ratio (MEDIUM LOW) CTH1A=1, CTH2A=0

6558 3058 3058 4058
0 15 15i 16i/16 Gear ratio (LOW) CTH1A=1, CTH2A=1

6559 3059 3059 4059

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.
0 15 15i 16i/16 Position gain in Cs contouring control (HIGH) CTH1A=0, CTH2A=0

6569 3069 3069 4069
0 15 15i 16i/16 Position gain in Cs contouring control (MEDIUM HIGH) CTH1A=0, CTH2A=1
6570 3070 3070 4070
0 15 15i 16i/16 Position gain in Cs contouring control (MEDIUM LOW) CTH1A=1, CTH2A=0
6571 3071 3071 4071
0 15 15i 16i/16 Position gain in Cs contouring control (LOW) CTH1A=1, CTH2A=1

6572 3072 3072 4072

These parameters specify the position gains used in Cs contouring
control mode.
Note that the parameter numbers for the position gain of the feed axis
in Cs contouring control mode differ from normal parameter numbers.
When a different position gain is to be used for each gear, set an
appropriate value in the parameter for each gear.
- 84 -
0 15 15i 16i/16 Speed for return to reference position in Cs contouring control

6574 3074 3074 4074
Unit of data : 1min-1

When this parameter is set to 0
In returning to the reference position in Cs contouring control,
the feedrate set in the parameter (No. 4021) for specifying the
maximum feedrate for Cs contouring control is used. When a
high feedrate is used in returning to the reference position, set a
desired feedrate in this parameter.
When this parameter is set to a value other than 0
In returning to the reference position in Cs contouring
control/servo mode, the spindle feedrate in this parameter is
used.
0 15 15i 16i/16 Motor voltage setting in Cs contouring control

6586 3086 3086 4086
Unit of data : 1%
Set the motor voltage to "100", when Cs contouring control is in
operation.
Set parameter No. 4016 #4 (CMTVL) is "1", when the motor voltage
during Cs contouring control is set for less than "100".
0 15 15i 16i/16 The reduction rate of position loop gain in returning to the reference point on
6592 3092 3092 4092 Cs contouring mode
Unit of data : 1%
This parameter specifies a rate of change in the position gain used for
reference position return in Cs contouring control mode.
When operation is decelerated then stopped, overshoot may occur if
return to the reference position is made at high speed or if the spindle
inertia is large.
In such a case, decreasing the value of this parameter can suppress the
overshoot.
- 85 -
0 15 15i 16i/16 The constant of the torque disturbance compensating (Acceleration feedback
6594 3094 3094 4094 gain)
Unit of data :
This parameter specifies the constant for compensating for a
disturbance torque in Cs contouring control mode.
Setting this parameter may improve the cutting stability.
As a guideline, specify 500 to 2000 for this parameter.
Never specify a value of 4000 or more for this parameter.
0 15 15i 16i/16 Spindle speed feedback gain

6597 3097 3097 4097
Unit of data :
This parameter is set to feed back spindle speed and compensate for
torque disturbance in Cs contouring control in systems where spindles
and spindle motors are linked by gears or belts.
When the spindle and motor are linked by a belt, control stability may
be improved by enabling spindle speed feedback.
As a guideline for setting this parameter, specify a value that is almost
equal to the velocity loop proportional gain set in parameter No. 4046
(10 to 50).
0 15 15i 16i/16 Delay time for motor excitation

6599 3099 3099 4099
Unit of data : 1msec

This parameter specifies the time required to achieve stable motor
activation in Cs contouring control mode.
When switching to Cs contouring control mode, a stop-time excessive
error alarm may be issued intermittently.
This is because an abrupt change in the motor excitation status causes
a transient state to be generated in the motor, causing the motor to
move very slightly.
If such an alarm is issued, specify this parameter.
Generally, specify about 400 (= 400 msec).
- 86 -
0 15 15i 16i/16 Grid shift amount in Cs contouring control

6635 3135 3135 4135
Unit of data : 1 pulse unit (=0.001°)

Valid data range : -360000 to +360000
Set the pulse from one rotation signal to machine zero point in Cs
contouring control.
Specify this parameter when changing the reference position.
2.4.5 Additional Information on Parameters
(1) Time constant for rapid feed along axes subject to Cs contouring
control
Parameter No.
Description
0T 0M 15 15i 16i/16
Linear acceleration/deceleration
0524 0525 1620 1620 1620
time constant for rapid traverse
When rapid feed is performed at high speed, or the spindle inertia

is large, overshoot or hunting may occur during acceleration/
deceleration in rapid feed.
To prevent this, change the value in the parameter for the linear
acceleration/deceleration time constant for rapid feed.
2.4.6 Diagnosis
Address
Description
0T 0M 15 15i 16i/16
Position error in axis subject to Cs
0802 0803 3000 0418
contouring control
- 87 -
2.5 SPINDLE SYNCHRONIZATION CONTROL
B. Prepare and check the ladder programs for the spindle synchronization function.
C. Set the parameters related to spindle synchronization.
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 synchronization is applied.

- Direction of spindle motor rotation when spindle synchronization 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 synchronization
- Acceleration/deceleration time constant used for spindle synchronization control
H. Check that the error pulse difference between the spindles is within ±5 pulses.
- Position gain for spindle synchronization
- Spindle-to-motor gear ratio data
- Velocity loop proportional gain for spindle synchronization
- Velocity loop integral gain for spindle synchronization
- Incomplete integration coefficient
- Bell-shaped acceleration/deceleration time constant for spindle synchronization
- Motor voltage for spindle synchronization
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 synchronization operation.
- 88 -
2.5.2 Related I/O Signals
0T 0TT 15 16i/16 7 6 5 4 3 2 1 0
G146 G146 G038 SPPHS SPSYC
G124 G124 G032 R08I R07I R06I R05I R04I R03I R02I R01I
G125 G125 G033 SSGN R12I R11I R10I R09I
G025 RI07 RI06 RI05 RI04 RI03 RI02 RI01 RI00
G024 RISGN RI12 RI11 RI10 RI09 RI08
G111 SPPHS SPSYC
1st-G229 G229 G227 G070 MRDYA ORCMA SFRA SRVA CTH1A CTH2A TLMHA TLMLA
2nd-G233 G1429 G235 G074
1st-G230 G230 G226 G071 RCHA RSLA INTGA SOCNA MCFNA SPSLA *ESPA ARSTA
2nd-G234 G1430 G234 G075
0T 0TT 15 16i/16 7 6 5 4 3 2 1 0
F178 F178 F044 SYCAL FSPPH FSPSY
F245 F049
F111 MSPPHS MSPSYC SPSYAL
1st-F281 F281 F229 F045 ORARA TLMA LDT2A LDT1A SARA SDTA SSTA ALMA
2nd-F285 F245 F049
1st-F282 F282 F228 F046 RCFNA RCHPA CFINA CHPA

2nd-F286 F244 F050
- 89 -
Parameter No.
0T 0TT 15TT Description
16i/16
1st 2nd 1st 2nd
0080 0080 5820 4800 Direction of rotation of the 1st spindle motor while
- -
#6 #6 #0 #0 synchronization control is applied
0080 0080 5820 4800 Direction of rotation of the 2nd spindle motor while
- -
#7 #6 #1 #1 synchronization control is applied
Error pulse difference between the two spindles for turning on the
0303 0303 5810 4810
spindle phase synchronization completion signal
0576 0576 5811 4811 Detection level of phase error monitorisignal
Acceleration/deceleration time constant used for spindle
6532 6672 6532 3032 3172 4032 synchronization control
(The same value must be set for both the 1st and 2nd spindles.)
6533 6673 6533 3033 3173 4033 Detection level for spindle synchronization completion signal
6534 6674 6534 3034 3174 4034 Shift amount for spindle phase synchronization control
6535 6675 6535 3035 3175 4035 Compensation data for spindle phase synchronization
6544 6684 6544 3044 3184 4044 Velocity loop proportional gain for spindle synchronization
6545 6685 6545 3045 3185 4045 (A parameter is selected by the CTH1A PMC input signal.)
6552 6692 6552 3052 3192 4052 Velocity loop integral gain for spindle synchronization
6553 6693 6553 3053 3193 4053 (A parameter is selected by the CTH1A PMC input signal.)
6506 6646 6506 3006 3146 4006

Gear ratio increment system
#1 #1 #1 #1 #1 #1
6556 6696 6556 3056 3196 4056 Spindle-to-motor gear ratio data
to to to to to to (A parameter is selected by the CTH1A and CTH2A PMC input
6559 6699 6559 3059 3199 4059 signals.)
Position gain for spindle synchronization
6565 6705 6565 3065 3205 4065 (The same value must be specified for both the 1st and 2nd
to to to to to to spindles.)
6568 6708 6568 3068 3208 4068 (A parameter is selected by the CTH1A and CTH2A PMC input
signals.)
6506 6646 6506 3006 3146 4006 Automatic one-rotation signal detection in spindle
#4 #4 #4 #4 #4 #4 synchronization mode switching
6585 6725 6585 3085 3225 4085 Motor voltage for spindle synchronization
Magnetic flux switching point used for calculating an
acceleration/deceleration time constant used for spindle
6300 6480 6300 3480 3700 4336 synchronization control
(The same value must be specified for both the 1st and 2nd
spindles.)
Bell-shaped acceleration/deceleration time constant for spindle
synchronization
6304 6484 6304 3484 3704 4340
(The same value must be specified for both the first and second
spindles.)
6310 6490 6310 3490 3710 4346 Incomplete integration coefficient
- 90 -
0 15 16i/16
1st- 6506 3006 4006 SYCREF GRUNIT
2nd- 6646 3146 #7 #6 #5 #4 #3 #2 #1 #0
GRUNIT Gear ratio setting resolution setting

0 : 1/100 unit (Under normal circumstances, set to "0".)
1 : 1/1000 unit
This parameter is used for gear ratio data setting to select whether to
set the number of motor revolutions for 1 revolution of the spindle as
a multiple of 100 or as a multiple of 1,000.
When the gear ratio is a fraction at 1/100, there may be a constant
synchronization error indicated in spindle synchronization control.
In this sort of situation, using setting units of 1/1000 makes the
synchronization error appear much smaller.
This parameter changes the following parameter settings.
Parameter No.
0TC 15TT
0TTC 16i/16
1st 2nd 1st 2nd
6556 6696 6556 3056 3196 4056
Gear ratio between
to to to to to to
spindle and motor
6559 6699 6559 3059 3199 4059
SYCREF Setting for function performing automatic detection of the one-

rotation signal in spindle synchronization control
0 : Automatic detection of the one-rotation signal carried out
1 : Automatic detection of the one-rotation signal not carried out.
(When spindle phase synchronization is not carried out)
Each spindle performs an automatic one-rotation signal detection
operation to detect the one-rotation signal position when the mode is
switched to spindle synchronization mode at power-on. (Each spindle
rotates two or three times, even if such rotation is not instructed.)
This operation is required because the one-rotation signal must be
detected to enable spindle phase synchronization control.
When this operation results in an error because two spindles are
mechanically connected, or synchronous control of the spindle phase
is not to be exercised, this operation can be disabled by setting this bit
to 1.
- 91 -
0 15 16i/16
1st- 6516 3016 4016 RFCHK3
2nd- 6656 3156 #7 #6 #5 #4 #3 #2 #1 #0
RFCHK3 Presence of function for redetecting the one-rotation signal for the
position coder signal each time spindle synchronization control mode
is entered.
0: The one-rotation signal is not detected each time the operating
mode changes.
changes.
0 15 16i/16
1st- 6532 3032 4032 Acceleration/deceleration time constant at spindle synchronization control
2nd- 6672 3172
Unit of data : 1min-1/sec (when parameter No. 4006#2 (SPDUNT) = 1, 10 min-1)

When the synchronization speed command at spindle synchronization
control is changed, set the acceleration/deceleration time constant.
When set data is 0, time constant does not function.
Set exactly the same data for 1st spindle and 2nd spindle.
0 15 16i/16
1st- 6533 3033 4033 Spindle synchronization speed arrival level
2nd- 6673 3173

For the synchronization speed command at spindle synchronization
control, if the deviations of the respective spindle motor speeds are
within the setting level, the spindle synchronization control complete
signal (FSPSY) becomes "1".
0 15 16i/16
1st- 6534 3034 4034 Shift amount at spindle phase synchronization control
2nd- 6674 3174
Unit of data : 1 pulse unit (360°/4096)

Sets the shift amount from the reference point at spindle phase
synchronization control (one-rotation signal).
- 92 -
0 15 16i/16
1st- 6535 3035 4035 Spindle phase synchronization compensation data
2nd- 6675 3175
Unit of data : 1 pulse/2msec

This parameter reduces speed fluctuations when aligning phase of
spindles in spindle phase synchronization control.
When this parameter is "0", since the phase alignment amount is only
issued once, the position deviation 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.
0 15 16i/16
1st- 6544 3044 4044 Velocity loop proportion gain on spindle synchronization control (HIGH)
2nd- 6684 3184 CTH1A=0
0 15 16i/16
1st- 6545 3045 4045 Velocity loop proportion gain on spindle synchronization control (LOW)
2nd- 6685 3185 CTH1A=1
Unit of data :
This sets velocity loop proportional gain in spindle synchronization
control.
It is selected HIGH when CTH1A=0 of input signal, and It is selected
LOW when CTH1A=1 of input signal.
0 15 16i/16
1st- 6552 3052 4052 Velocity loop integral gain on spindle synchronization control (HIGH)CTH1A=0
2nd- 6692 3192
0 15 16i/16
1st- 6553 3053 4053 Velocity loop integral gain on spindle synchronization control (LOW)CTH1A=1
2nd- 6693 3193
Unit of data :
This sets velocity loop integral gain in spindle synchronization
control. It is selected HIGH when CTH1A=0 of input signal, and It is
selected LOW when CTH1A=1 of input signal.
- 93 -
0 15 16i/16
1st- 6556 3056 4056 Gear ratio (HIGH) CTH1A=0, CTH2A=0
2nd- 6696 3196
0 15 16i/16
1st- 6557 3057 4057 Gear ratio (MEDIUM HIGH) CTH1A=0, CTH2A=1
2nd- 6697 3197
0 15 16i/16
1st- 6558 3058 4058 Gear ratio (MEDIUM LOW) CTH1A=1, CTH2A=0
2nd- 6698 3198
0 15 16i/16
1st- 6559 3059 4059 Gear ratio (LOW) CTH1A=1, CTH2A=1
2nd- 6699 3199

These parameters set the gear ratio of the spindle motor to the spindle.
When the motor rotates 2.5 times for each turn of the spindle, for
example, set 250 in the parameter.
- 94 -
0 15 16i/16
1st- 6565 3065 4065 Position gain on servo mode/on synchronization control (HIGH)
2nd- 6705 3205 CTH1A=0, CTH2A=0
0 15 16i/16
1st- 6566 3066 4066 Position gain on servo mode/on synchronization control (MEDIUM HIGH)
2nd- 6706 3206 CTH1A=0, CTH2A=1
0 15 16i/16
1st- 6567 3067 4067 Position gain on servo mode/on synchronization control (MEDIUM LOW)
2nd- 6707 3207 CTH1A=1, CTH2A=0
0 15 16i/16
1st- 6568 3068 4068 Position gain on servo mode/on synchronization control (LOW)
2nd- 6708 3208 CTH1A=1, CTH2A=1

This sets position gain in synchronization control. It is selected by
CTH1A or CTH2A of input signal.
0 15 16i/16
1st- 6585 3085 4085 Motor voltage setting on spindle synchronization control
2nd- 6725 3225
Unit of data : 1%
Standard setting : Varies with the motor model.
Set a motor voltage for spindle synchronization.
0 15 16i/16
1st- 6300 3480 4336 Magnetic flux switching point used for calculating an acceleration/
2nd- 6480 3700 deceleration time constant used for synchronous control of the spindle
Unit of data 1min-1/sec (when parameter No. 4006#2 (SPDUNT) = 1, 10 min-1)

Set a speed for switching the acceleration/deceleration time constant
used for spindle synchronization control.
In the area below the speed set in this parameter, acceleration/
deceleration is performed according to the time constant set in
parameter No. 4032 (acceleration/deceleration time constant at
spindle synchronization control). In the area above the speed set in
this parameter, the time constant varies according to the torque
characteristics.
When 0 is set in this parameter, linear acceleration/deceleration is
performed.
The same value must be specified in this parameter for the first
spindle and second spindle.
- 95 -
0 15 16i/16
1st- 6304 3484 4340 Bell-shaped acceleration/deceleration time constant for spindle
2nd- 6484 3704
Unit of data : 1msec

Set a bell-shaped acceleration/deceleration time constant used when
the specified synchronous speed for spindle synchronization is
changed.
This parameter is applied to a move command after the
acceleration/deceleration time constant at spindle synchronization
control set in parameter No. 4032 is applied. Consequently, linear
acceleration/deceleration is performed according to the time constant
set in this parameter when 0 is set in parameter No. 4032.
When this parameter is set, the spindle synchronous speed control
completion signal (FSPSY), output when the synchronous speed is
first reached after the spindle synchronization mode is entered, is
delayed by the set time.
The same value must be specified, using this parameter, for both the
1st and 2nd spindles.
0 15 16i/16
1st- 6310 3490 4346 Incomplete integration coefficient
2nd- 6490 3710
Unit of data :
Set this parameter to use incomplete integration for velocity loop
integration control.
- 96 -
2.5.5 Number of Error Pulses in Spindle Synchronization
(1) Calculating the number of error pulses in spindle

synchronization
Number of error pulses[ p] =
Spindle synchronization speed [min −1 ]
× 4096[ p rev]
60[sec]
1
×
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 pulses
60 20
(2) Checking the number of error pulses in spindle synchronization

If the number of error pulses in spindle synchronization checked
by diagnosis differs greatly from the calculated value, check the
following:
- Spindle speed (This can be checked using the actual
rotation speed indication of the CNC.)
- Spindle-to-motor gear ratio parameters (Nos. 4056 to 4059)
(The actual gear ratio can be checked from the spindle
speed, above, and the motor speed indication given on the
spindle check board.)
- Position gain parameters (Nos. 4065 to 4068)
- How the gear selection signals (CTH1A, CTH2A) are used
for selection (This can be checked by diagnosis.)
If the number of error pulses differs by several pulses in steady-
state rotation, the increment system of the spindle-to-motor gear
ratio parameters may be 1/100, and the method used for
discarding insignificant digits may be the cause.
In such a case, change the increment system for the gear ratio
parameters to 1/1000 (by setting bit 1 of parameter No. 4006 to 1)
so that the gear ratio data can be set in increments of 1/1000.
- 97 -
2.5.6 Specifying a Shift Amount for Spindle Phase Synchronization

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:
- SFR = 1 (SRV = 1) for the 1st and 2nd spindles : M03
- Spindle synchronous speed command = 0 min-1 : S0
- For the 1st and 2nd spindles, set 0 in the parameter for the
shift amount for spindle phase synchronization control.
(2) After establishing spindle phase synchronization, set SFR for the
2nd spindle to 0 (to deactivate the motor).
The 2nd spindle must be rotated manually because the power to
its motor is turned off.
(3) Manually rotate the 2nd spindle to the next position where
spindle phase synchronization is to be established.
On the diagnosis screen indicating the number of error pulses
between the two spindles, check the number of error pulses
output between the first position where spindle phase
synchronization was established to the next position where
spindle phase synchronization is to be established.
This value serves as data to be set in the parameter for the shift
amount used for spindle phase synchronization.
(4) Set the number of pulses, determined as above, in the parameter
for specifying a shift amount for spindle phase synchronization
for the 2nd spindle.
In general, set 0 in the parameter for the shift amount for spindle
phase synchronization for the 1st spindle.
(5) After cancelling the spindle synchronization command, perform
another spindle phase synchronization operation, according to
the following settings, to check that phase synchronization has
been established as expected:
- SFR = 1 (SRV = 1) for the 1st and 2nd spindles : M03
- Spindle synchronous speed command = 0 min-1 : S0
2.5.7 Diagnosis
Address
Description
0T 0TT 15TT 16i/16
- 1508 - Spindle synchronization sequence state
0754 1509 0414 Number of error pulses output for 1st spindle
in spindle synchronization
0755 1510 0415 Number of error pulses output for 2nd spindle
in spindle synchronization
0756 1511 0416 Error pulse difference between the spindles in
spindle synchronization
- 98 -
2.6 SPEED RANGE SWITCHING CONTROL

B. Check the connections for speed range switching control.
C. Prepare and check the ladder programs for speed range switching control.
D. Set the parameters related to speed range switching control.
E. Check the speed range switching control operation.

NG
0 15 15i 16i/16 7 6 5 4 3 2 1 0
2nd- G233 G235 G235 G074
2nd- G234 G234 G234 G075
2nd- G235 G237 G237 G076
0 15 15i 16i/16 7 6 5 4 3 2 1 0
2nd- F285 F245 F245 F049

2nd- F286 F244 F244 F050
- 99 -
Parameter No.
Description
0 15 15i 16i/16
Whether to use the speed range switching control function. (Set this bit
6515 #2 3015 #2 3015 #2 4015 #2
to 1.) (The CNC software option is required.)
Function for checking the high-speed and low-speed characteristics of
6514 #3 3014 #3 3014 #3 4014 #3
the contacts of electromagnetic contactors in speed range switching
Function for checking the speed detection signal output when switching
6519 #4 3019 #4 3019 #4 4019 #4
from the high-speed characteristics to low-speed characteristics
6523 3023 3023 4023 Speed detection level
6924 3304 3160 4160 Speed detection level hysteresis
- 100 -
0 15 15i 16i/16
1st- 6515 3015 3015 4015 SPDSW
2nd- 6655 3155 #7 #6 #5 #4 #3 #2 #1 #0
SPDSW Presence of speed range switching function (CNC software option)

0 : Without speed range switching function
1 : With speed range switching function (Set to 1.)
0 15 15i 16i/16
1st- 6514 3014 3014 4014 CHGSLT
2nd- 6654 3154 #7 #6 #5 #4 #3 #2 #1 #0
CHGSLT Specifies whether to check the contacts of the high and low magnetic
contractors for speed range switching.
0 : Makes a check by using the power line status check signal
(RCH).
1 : Checks the contacts of the high and low magnetic contactors.
0 15 15i 16i/16
1st- 6519 3019 3019 4019 SDTCHG
2nd- 6659 3159 #7 #6 #5 #4 #3 #2 #1 #0
SDTCHG Specifies whether to switch from the high-speed to low-speed range in

speed range switching at the speed detection level (SDT = 1) or lower
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 at the speed
detection signal SDT = 1.
When this bit is set to 0, switching from the high-speed to low-speed
characteristics is performed, regardless of the state of the speed
detection signal (SDT).
When this bit is set to 1, switching from the high-speed to low-speed
characteristics is not performed if the speed detection signal (SDT) is
set to 0; switching takes place once the speed detection signal (SDT)
is set to 1.
To ensure that switching to the low-speed characteristics is performed
near the switching speed, set a speed detection level (in parameter No.
4023) that is slightly higher then the switching speed level.
- 101 -
0 15 15i 16i/16
1st- 6523 3023 3023 4023 Speed detecting level
2nd- 6663 3163
Unit of data : 0.1%

This data is used to set the detecting range of speed detecting signal
(SDT).
When the motor speed reaches (setting data/10) % or less of
maximum speed, the bit of speed arrival signal (SDT) is set to "1".
0 15 15i 16i/16
1st- 6924 3304 3160 4160 Speed detection level hysteresis
2nd- 6964 3524

Set the detection level hysteresis of the speed detection signal
(SDTA).
The state of the speed detection signal (SDTA) changes from 1 to 0 at
a motor speed of (detection level + hysteresis), and from 0 to 1 at a
specified (detection level).
When 20 min-1 or less is set in this parameter, a hysteresis of 20 min-1
is set automatically.
When the speed detection signal (SDTA) is used for speed range
switching control, set a greater value if the switching circuitry causes
chattering near the speed detection level.
Measure the speed variation at switching, then set a value obtained by
adding a margin (about twice the measured value) to the measured
value as a hysteresis.
The hysteresis can be calculated by using the formula below as a
guideline (assuming that the motor load torque at the time of
switching is 20% of the maximum output torque).
Hysteresis [min-1] =
(speed range switching time) /
(acceleration time until maximum speed is reached)
× maximum speed × 0.2
- 102 -
2.6.5 Parameter Switching Between High-speed Range and Low-

speed Range
(1) Gear/clutch signals (CTH1A, CTH2A)

For switching of the velocity loop gain, position gain, and gear ratio
data between the high-speed and low-speed characteristics in speed
range switching control, the gear/clutch signals (input signals),
CTH1A and CTH2A, are used.
Usually, the gear/clutch signals are used to select the spindle
parameters (velocity loop gain, position gain, and gear ratio) for a
selected gear/clutch.
For speed range switching control, set CTH1A and CTH2 together
with the winding selection.
CTH1A CTH2A Gear/clutch selection state Winding selection state

Windings for high-speed
0 0 HIGH GEAR (HIGH)
power characteristics
0 1 MEDIUM HIGH GEAR (HIGH) -
1 0 MEDIUM LOW GEAR (LOW) -
Windings for low-speed
1 1 LOW GEAR (LOW)
power characteristics
(2) Relationships between the gear/clutch signals and spindle parameters
(a) When the windings for high-speed power characteristics are selected
(CTH1A = 0, CTH2A = 0)
Parameter No.
0 15 15i 16i/16
1st- 6540 3040 3040 4040 Velocity loop proportional gain on normal operation (HIGH)
2nd- 6680 3180
1st- 6542 3042 3042 4042 Velocity loop proportional gain on orientation (HIGH)
2nd- 6682 3182
1st- 6544 3044 3044 4044 Velocity loop proportional gain on servo mode (HIGH)
2nd- 6684 3184
1st- 6546 3046 3046 4046 Velocity loop proportional gain in Cs contouring control (HIGH)
2nd- 6686 3186
1st- 6548 3048 3048 4048 Velocity loop integral gain on normal operation (HIGH)
2nd- 6688 3188
1st- 6550 3050 3050 4050 Velocity loop integral gain on orientation (HIGH)
2nd- 6690 3190
- 103 -
Parameter No.
1st- 6552 3052 3052 4052 Velocity loop integral gain on servo mode (HIGH)
2nd- 6692 3192
1st- 6554 3054 3054 4054 Velocity loop integral gain in Cs contouring control (HIGH)
2nd- 6694 3194
1st- 6560 3060 3060 4060 Position gain on orientation (HIGH)

2nd- 6700 3200
1st- 6565 3065 3065 4065 Position gain on servo mode (HIGH)
2nd- 6705 3205
1st- 6569 3069 3069 4069 Position gain in Cs contouring control (HIGH)
2nd- 6709 3209
(b) When the windings for low-speed power characteristics are selected (CTH1A = 1,
CTH2A = 1)
Parameter No.
0 15 15i 16i/16
1st- 6541 3041 3041 4041 Velocity loop proportional gain on normal operation (LOW)
2nd- 6681 3181
1st- 6543 3043 3043 4043 Velocity loop proportional gain on orientation (LOW)
2nd- 6683 3183
1st- 6545 3045 3045 4045 Velocity loop proportional gain on servo mode (LOW)
2nd- 6685 3185
1st- 6547 3047 304 4047 Velocity loop proportional gain in Cs contouring control (LOW)
2nd- 6687 3187
1st- 6549 3049 3049 4049 Velocity loop integral gain on normal operation (LOW)
2nd- 6689 3189
1st- 6551 3051 3051 4051 Velocity loop integral gain on orientation (LOW)
2nd- 6691 3191
1st- 6553 3053 3053 4053 Velocity loop integral gain on servo mode (LOW)
2nd- 6693 3193
1st- 6555 3055 3055 4055 Velocity loop integral gain in Cs contouring control (LOW)
2nd- 6695 3195
1st- 6563 3063 3063 4063 Position gain on orientation (LOW)

2nd- 6703 3203
- 104 -
Parameter No.
1st- 6568 3068 3068 4068 Position gain on servo mode (LOW)
2nd- 6708 3208
1st- 6572 3072 3072 4072 Position gain in Cs contouring control (LOW)
2nd- 6712 3212
(3) Notes
The gear/clutch signals (CTH1A, CTH2A) are also used to select
parameters for Series 15 rigid tapping, feed axis position gain in Cs
contouring control, the number of teeth of an arbitrary gear, time
constant, backlash, and so forth.
- 105 -
3.EXPLANATION OF PARAMETERS B-65280EN/01
3 EXPLANATION OF PARAMETERS
- 106 -
B-65280EN/01 3.EXPLANATION OF PARAMETERS
0 15 15i 16i/16
6500 3000 3000 4000 RETSV RETRN ROTA2 ROTA1
6640 3140 #7 #6 #5 #4 #3 #2 #1 #0
Standard setting: 0 0 0 0 0 0 0 0
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
ROTA2 Indicates the spindle direction by the motion command (+). (Only
effective in Cs contouring control) The Power Mate does not have
this function.
0: Rotates the spindle in CCW (counter clockwise) direction.
1: Rotates the spindle in CW (clockwise) direction.
RETRN Indicates the reference position return direction in Cs contouring

control.
The Power Mate does not have this function.
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).
RETSV Indicates reference position return direction (rigid tap/spindle

positioning etc.) when in servo mode.
0: Spindle reference position returns CCW (counter clockwise)
1: Spindle reference position returns CW (clockwise)
0 15 15i 16i/16
6501 3001 3001 4001 SSDIRC MRDY1
6641 3141 #7 #6 #5 #4 #3 #2 #1 #0
MRDY1 Determines whether the MRDYA signal (machine ready signal) is

used or not.
0: Not used. (The MRDYA signal should be always set to 1.)
1: Used.
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.
- 107 -
0 15 15i 16i/16
6502 3002 3002 4002 PCEN SYCDRT SVMDRT CSDRCT SSTYP3 SSTYP2 SSTYP1 SSTYP0
6642 3142 #7 #6 #5 #4 #3 #2 #1 #0
SSTYP3 to 0 Spindle sensor type
SSTYP3 SSTYP2 SSTYP1 SSTYP0 Spindle sensor type

None (No position control
0 0 0 0
function is used.)
Uses the motor sensor for
0 0 0 1
position feedback.
0 0 1 0 α position coder
0 0 1 1 Separate BZi sensor
0 1 0 0 α position coder S
CSDRCT Setting of the rotation direction signal (SFR/SRV) function when Cs

contouring control is used.
0 : Rotation direction function enabled
counterclockwise when SFR = 1, and the spindle rotates
when SFR=1, and the spindle rotates counterclockwise when
SRV=1.
1 : Rotation direction function disabled
disabled. Only the function for enabling spindle motor
excitation is available.
counterclockwise when SFR = 1 or SRV = 1.
when SFR = 1 or SRV = 1.
SVMDRT Setting of the rotation direction signal (SFR/SRV) function in servo

mode (rigid tapping/spindle positioning)
0: Rotation direction function enabled
With motion command in the positive direction, the spindle
rotates counterclockwise when SFR = 1, and the spindle rotates
1: Rotation direction function disabled
disabled. Only the function for enabling spindle motor excitation
is available.
With motion command in the positive direction, the spindle
rotates counterclockwise when SFR = 1 or SRV = 1.
- 108 -
SYCDRT Setting of the rotation direction signal (SFR/SRV) function when

spindle synchronization control is used
0: Rotation direction function enabled
With spindle synchronization speed command, in the positive
direction the spindle rotates counterclockwise when SFR = 1,
and the spindle rotates clockwise when SRV = 1.
1: Rotation direction function disabled
disabled. Only the function for enabling spindle motor excitation
is available.
With spindle synchronization speed command, in the positive
direction the spindle rotates counterclockwise when SFR = 1 or
SRV = 1.
PCEN Setting of the function of enabling CMR for a move command in

servo mode
0: Disables CMR.
1: Enables CMR. (CMR=4096/360000)
0 15 15i 16i/16
6503 3003 3003 4003 PCPL2 PCPL1 PCPL0 PCTYPE DIRCT2 DIRCT1 PCMGSL
6643 3143 #7 #6 #5 #4 #3 #2 #1 #0
PCMGSL Orientation method selection

Set to 0.
DIRCT2, DIRCT1 Rotation direction at spindle orientation
DIRCT2 DIRCT1 Setting of rotation direction at spindle orientation

0 0 By rotation direction immediately before
0 1 By rotation direction immediately before
CCW (counterclockwise) direction looking from shaft
1 0
of motor
1 1 CW (clockwise) direction looking from shaft of motor
PCPL2, PCPL1, PCPL0, PCTYPE Gear teeth number setting of the spindle sensor
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 1 1024λ/rev
1 1 0 0 384λ/rev
- 109 -
0 15 15i 16i/16
6504 3004 3004 4004 RFTYPE EXTRF
6644 3144 #7 #6 #5 #4 #3 #2 #1 #0
EXTRF, RFTYPE External one-rotation signal setting
RFTYPE EXTRF External one-rotation signal (proximity switch)

0 0 None
0 1 Detects the leading edge.
1 1 Detects the trailing edge.
0 15 15i 16i/16
6506 3006 3006 4006 BLTRGD ALGOVR SYCREF SPDUNT GRUNIT
6646 3146 #7 #6 #5 #4 #3 #2 #1 #0
GRUNIT Gear ratio setting resolution setting

0: 1/100 units (Under normal circumstances, set to "0".)
1: 1/1000 units
This parameter is used for gear ratio data setting to select whether to
set the number of motor revolutions for 1 revolution of the spindle as
a multiple of 100 or as a multiple of 1,000.
When the gear ratio is a fraction at 1/100, there may be a constant
synchronization error indicated in spindle synchronization control.
In this sort of situation, using setting units of 1/1000 makes the
synchronization error appear much smaller.
These parameters change the following parameter settings.
Parameter No.
0 15 Description
15i 16i/16
1st 2nd 1st 2nd
6556 6696 3056 3196 3056 4056 Gear ratio(HIGH)
6557 6697 3057 3197 3057 4057 Gear ratio(MEDIUM HIGH)
6558 6698 3058 3198 3058 4058 Gear ratio(MEDIUM LOW)
6559 6699 3059 3199 3059 4059 Gear ratio(LOW)
- 110 -
SPDUNT Setting the unit of speed

0: 1 min-1 setting ("0" is usually chosen)
1: 10 min-1 setting
Choose "1" for motors with a maximum speed of more than 32767
min-1.
These parameters change the following parameter settings.
Parameter No. Parameter setting unit

0 15 16i Description -1 -1
15i 1min 10min
1st 2nd 1st 2nd 16
-1 -1
6520 6660 3020 3160 3020 4020 Maximum speed 1min 10min
-1 -1
6521 6661 3021 3161 3021 4021 Maximum speed in Cs contouring control 1min 10min
-1 -1
6530 6670 3030 3170 3030 4030 Soft start/stop setting time 1min /sec 10min /sec
Acceleration/deceleration time constant at -1 -1
6532 6672 3032 3172 3032 4032 1min /sec 10min /sec
spindle synchronization control
Spindle synchronization rotation speed -1 -1
6533 6673 3033 3173 3033 4033 1min 10min
arrival level
Origin return speed when Cs contouring or -1 -1
6574 6714 3074 3214 3074 4074 1min 10min
servo mode
Maximum speed for position feedback signal -1 -1
6598 6738 3098 3238 3098 4098 1min 10min
detection
-1 -1
6600 6740 3100 3240 3100 4100 Base speed of motor power specifications 1min 10min
Activating voltage saturation speed at no- -1 -1
6602 6742 3102 3242 3102 4102 1min 10min
load
-1 -1
6608 6748 3108 3248 3108 4108 Current loop integral gain zero point 1min 10min
Low speed range parameters for speed range switching control (when speed range switching function exists)
-1 -1
6902 6942 3282 3502 3138 4138 Base speed of motor power specifications 1min 10min
Activating voltage saturation speed at no- -1 -1
6904 6944 3284 3504 3140 4140 1min 10min
load
-1 -1
6908 6948 3288 3508 3144 4144 Current loop integral gain zero point 1min 10min
-1 -1
6924 6964 3304 3524 3160 4160 Speed detection level hysteresis 1min 10min
SYCREF Setting for function performing automatic detection of the one-

rotation signal in spindle synchronization control
0: Automatic detection of the one-rotation signal carried out
1: Automatic detection of the one-rotation signal not carried out.
(When spindle phase synchronization is not carried out)
ALGOVR Setting of a spindle analog override range

0: 0 to 100%
1: 0 to 120%
BLTRGD Setting for rigid tapping using the arbitrary gear ratio (specified) with
the motor sensor
0: Does not use the specified arbitrary gear ratio in rigid tapping.
1: Uses the specified arbitrary gear ratio in rigid tapping with the
motor sensor.
- 111 -
0 15 15i 16i/16
6507 3007 3007 4007 PCACLH PCLS
6647 3147 #7 #6 #5 #4 #3 #2 #1 #0
PCLS Determines feedback signal disconnection detection.

0 : Performs disconnection detection. (Normally set to "0")
1 : Does not perform disconnection detection.
Set it to 0:
AL-27 (Position coder signal disconnection), AL-73 (Motor sensor
disconnection), and AL-84 (Spindle sensor disconnection) are
checked.
Set it to "1" temporarily when adjustment is difficult when adjusting
location and speed feedback signal waves and the disconnection alarm
occurs. After adjustment reset it to "0".
PCALCH Determines whether to use alarms (AL-41, AL-42, AL-47, AL-81,

AL-82,, AL-83, AL-85, AL-86, and AL-87) related to position
feedback signals (in non-Cs contour control mode).
0 : Detects alarms.
0 15 15i 16i/16
6509 3009 3009 4009 OVRTYP LDTOUT ALSP VLPGAN
6649 3149 #7 #6 #5 #4 #3 #2 #1 #0
VLPGAN Setting unit of speed control loop gain

0: To be set usually (Normally set to "0")
1: Multiplies the normal setting by 1/16.
ALSP Specifies how to turn off the power to the motor when AL-24 (serial
transfer data error) is issued.
0: The power to the motor is turned off once the motor has been
decelerated and stopped.
1: The power to the motor is turned off immediately.
Set this bit to 1 to turn off the power to the motor immediately upon
the issue of a spindle alarm.
LDTOUT Specifies whether the load detection signals (LDT1, LDT2) are output
during acceleration/deceleration.
0: Not output during acceleration/deceleration.
1: Output (at all times) during acceleration/deceleration if the level
set in the parameter is exceeded.
OVRTYP Specifies an analog override type.

0: Override of linear function type
1: Override of quadratic function type
- 112 -
0 15 15i 16i/16
6510 3010 3010 4010 MSTYP2 MSTYP1 MSTYP0
6650 3150 #7 #6 #5 #4 #3 #2 #1 #0
Standard setting: 0 0 0 0 0 X X X
X: Depends on the motor model.
MSTYP2, MSTYP1, MSTYP0 Motor sensor type
MSTYP2 MSTYP1 MSTYP0 Motor sensor type

0 0 0 Mi sensor
0 0 1 MZi, BZi sensor
0 15 15i 16i/16
6511 3011 3011 4011 POLE2 MXPW POLE1 VDT3 VDT2 VDT1
6651 3151 #7 #6 #5 #4 #3 #2 #1 #0
Standard setting: X 0 0 X X X X X
VDT1 to VDT3 Gear teeth number setting of the motor sensor
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
POLE2, POLE1 Number of motor poles
POLE2 POLE1 Number of motor poles

0 0 2 poles
0 1 4 poles
1 0 8 poles
1 1 6 poles
MXPW Settings of maximum power when accelerating and decelerating

Depends on the motor model.
- 113 -
0 15 15i 16i/16
6512 3012 3012 4012 SPHRV PWMFR1 PWMFR0
6652 3152 #7 #6 #5 #4 #3 #2 #1 #0
Standard setting: 1 0 0 0 0 X X 0
PWMFR1,0 Setting of PWM carrier frequency

SPHRV Setting for the spindle HRV control function

0: Disables the spindle HRV control function.
1: Enables the spindle HRV control function.
Normally set to "1".
0 15 15i 16i/16
6513 3013 3013 4013 PWM3K DS5 DS4 DS3 DS2 DS1
6653 3153 #7 #6 #5 #4 #3 #2 #1 #0
Standard setting: 0 X X X X X 0 0
X: Depends on the amplifier model.
DS5 to DS1 Set the current dead band data.

Depends on the amplifier model.
PWM3K Setting PWM carrier frequency in low speed characteristic area of

speed range switching control
0 15 15i 16i/16
6514 3014 3014 4014 CHGSLT
6654 3154 #7 #6 #5 #4 #3 #2 #1 #0
CHGSLT Specifies whether to check the contacts of the high and low magnetic
contractors for speed range switching
0: Makes a check by using the power line status check signal
(RCH).
1: Checks the contacts of the high and low magnetic contactors.
- 114 -
0 15 15i 16i/16
6515 3015 3015 4015 SPDSW SPLDMT ORIENT
6655 3155 #7 #6 #5 #4 #3 #2 #1 #0
ORIENT Presence of spindle orientation function (To use this function, the
CNC software option is required.)
0: Without spindle orientation function
1: With spindle orientation function
SPLDMT Specifies whether the spindle load monitor function is used. (To use
this function, the CNC software option is required.)
0: Not used.
1: used.
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
0 15 15i 16i/16
6516 3016 3016 4016 RFCHK3 RFCHK2 RFCHK1 CMTVL FFSMTH
6656 3156 #7 #6 #5 #4 #3 #2 #1 #0
FFSMTH Presence 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
servo mode (rigid tap, Spindle positioning etc.) and Cs contouring
control.
CMTVL Control properties settings in Cs contouring control and servo mode

(rigid tapping). Set "0" as normal.
When the motor voltage in Cs contour control mode (No. 4086) or
that in servo mode (No. 4085) is set to less than 100, set this bit to
"1".
RFCHK1 Determines whether to detect alarms (AL-82, AL-83, AL-85, and AL-
86) related to position feedback (in Cs contour control mode).
1 : Detects alarms.
RFCHK2 Determines whether to detect the alarm related to threading position

detection signal feedback (AL-46).
1 : Detects alarms.
- 115 -
RFCHK3 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.
changes.
0 15 15i 16i/16
6517 3017 3017 4017 NRROEN
6657 3157 #7 #6 #5 #4 #3 #2 #1 #0
NRROEN Specifies whether the shortcut function is used when spindle

orientation by a position coder is performed from the stop state.
0: Not used.
1: Used.
When this bit is set to 1, the shortcut function is used when the
following requirements are satisfied:
- Bit 7 (RFCHK3) of parameter No. 4016 is set to 0.
- The speed zero signal SST is set to 1.
- The shortcut command NRRO is set to 1.
0 15 15i 16i/16
6518 3018 3018 4018 HSORI HSVCM
6658 3158 #7 #6 #5 #4 #3 #2 #1 #0
HSVCM Velocity command compensation function in high-speed orientation

is:
0: Disabled.
1: Enabled.
HSORI High-speed orientation function is :

0: Disabled
1: Enabled
0 15 15i 16i/16
6519 3019 3019 4019 PRLOAD SDTCHG SSTTRQ
6659 3159 #7 #6 #5 #4 #3 #2 #1 #0
SSTTRQ Specifies whether to use torque clamping at speed of 0

0: Uses clamping.
1: Does not use clamping.
- 116 -
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 at the speed
detection signal SDTA = 1 or lower.
PRLOAD Parameter automatic setting function (Series 16i/16, Series 0, Power

Mate)
0: Parameter automatic setting is not executed.
1: Parameter automatic setting is executed.
Set the motor model code in parameter No. 4113, and set this bit to 1.
Then, briefly turn the CNC off, then on again. Then, the αi series
spindle parameters (Nos. 4000 to 4175), corresponding to the
specified model, are automatically initialized.
Upon the completion of automatic parameter initialization, this bit is
automatically reset to 0.
NOTE
With FS15i, the different parameter address, bit 0 of
parameter No. 5607, is used for this function.
Note also that the setting function is reversed.
0:Automatic parameter initialization is performed.
1:Automatic parameter initialization is not performed.
Set a model code in parameter No. 3133.
0 15 15i 16i/16
6660 3160
Unit of data: 1 min-1 (when parameter No. 4006 #2 (SPDUNT) = 1, 10 min-1)

Valid data range: 0 to 32767
Standard setting: Depends on a motor model.
This data is used to set the maximum speed of AC spindle motor.
0 15 15i 16i/16
6521 3021 3021 4021 Maximum speed in Cs contouring control
6661 3161
Unit of data: 1 min-1 (when parameter No. 4006 #2 (SPDUNT) = 1, 10 min-1)

Standard setting: 100
Set maximum spindle speed in Cs contouring control.
- 117 -
0 15 15i 16i/16
6522 3022 3022 4022 Speed arrival detection level
6662 3162
Unit of data: 0.1%

This data is used to set the detecting range of speed arrival signal
(SARA).
When the motor speed reaches the range within ±(setting data/10)%
of commanded speed, the bit of speed arrival signal (SARA) is set to
"1".
0 15 15i 16i/16
6523 3023 3023 4023 Speed detecting level
6663 3163
Unit of data: 0.1%

This data is used to set the detecting range of speed detecting
signal(SDTA).
When the motor speed reaches (setting data/10) % or less of
maximum speed, the bit of speed arrival signal (SDTA) is set to "1".
0 15 15i 16i/16
6524 3024 3024 4024 Speed zero detecting level
6664 3164
Unit of data: 0.01%

This data is used to set the detecting range of speed zero detection
signal (SSTA).
When the motor speed reaches (setting data/100)% or less of
maximum speed, the bit of speed zero detection signal (SSTA) is set
to "1".
- 118 -
0 15 15i 16i/16
6525 3025 3025 4025 Setting of torque limit value
6665 3165
Unit of data: 1%
This data is used to set the torque limit value for maximum output
torque when the torque limit command HIGH (TLMHA) or torque
limit command LOW (TLMLA) is commanded.
Data represents limiting values when the maximum torque is assumed
to be 100%.
Torque limit Torque limit

command LOW command HIGH Details
(TLMLA) (TLMHA)
0 0 No torque limitation exists.
Torque limited to the setting value of
0 1
this parameter.
1 0 Torque limited to approximately half as
1 1 compared with that of this parameter.
0 15 15i 16i/16
6526 3026 3026 4026 Load detecting level 1
6666 3166
Unit of data: 1%
This data is used to set the detecting range of load detecting signal 1
(LD T1A).
When the motor power reaches the setting data % or more of
maximum power, the bit of load detecting signal 1 (LDT1A) is set to
"1".
0 15 15i 16i/16
6527 3027 3027 4027 Load detecting level 2
6667 3167
Unit of data: 1%
This data is used to set the detecting range of load detecting signal 2
(LD T2A).
When the motor power reaches the setting data % or more of
maximum power, the bit of load detecting signal 2 (LDT2A) is set to
"1".
- 119 -
0 15 15i 16i/16
6528 3028 3028 4028 Power limit pattern setting
6668 3168
Unit of data:
Standard setting: 0
Select a proper pattern from the following.
A: When the acceleration/deceleration are slowly performed by
limiting the power on acceleration/deceleration only and
operation is performed at rated power in normal rotation:
(Setting data: 1 or 4) (The function is similar to the soft
start/stop.)
B: When the acceleration/deceleration are performed at the
maximum power and the power is limited in normal rotation:
(Setting data: 2 or 5)
C: When a machine with different power specifications is produced
using the same motor and amplifier: (Setting data: 3 or 6)
Setting data
Details
Pattern 1 Pattern 2
Power is not limited. 0 0
A: Power is limited on acceleration/deceleration
1 4
only.
B: Power is not limited on
acceleration/deceleration and it is limited on 2 5
normal rotation.
C: Power is limited over all operations. 3 6
[Power limit pattern 1] Setting data = 1, 2, 3, . . .
[Power limit pattern 2] Setting data = 4, 5, 6, . . .
- 120 -
0 15 15i 16i/16
6529 3029 3029 4029 Power limit value
6669 3169
Unit of data: 1%
This data is used to set the value limited when the maximum power
(allowable overload capacity) is 100%.
This setting value is valid when power is limited by setting the data
on parameter No.4028.
Power limit value = Maximum power × (Setting data)%
0 15 15i 16i/16
6530 3030 3030 4030 Soft start/stop setting time
6670 3170
Unit of data: 1 min-1/sec (when parameter No. 4006#2(SPDUNT) = 1, 10 min-1/sec)

Standard setting: 0
This data is used to set the time constant of soft start/stop function is
available (the soft start/stop signal SOCNA = 1).
When set data is 0 the soft start/stop function is not effective.
0 15 15i 16i/16
6531 3031 3031 4031 Position coder method orientation stop position
6671 3171
Unit of data: 1 pulse (360°/4096)

Standard setting: 0
This data is used to set the stop position of position coder method
spindle orientation.
It can be set at every 360 degrees/4096.
When stop position external command type spindle orientation is set,
this parameter becomes invalid.
12bit stop position command (SHA11 to SHA00) instructed by PMC
becomes valid.
0 15 15i 16i/16
6532 3032 3032 4032 Acceleration/deceleration time constant at spindle synchronization
6672 3172
Unit of data: 1 min-1/sec (when parameter No. 4006#2(SPDUNT) = 1, 10 min-1/sec)

Standard setting: 0
When the synchronization speed command at spindle synchronization
control is changed, set the acceleration/deceleration time constant.
When set data is 0, time constant does not function.
Set exactly the same data for 1st spindle and 2nd spindle.
- 121 -
0 15 15i 16i/16
6533 3033 3033 4033 Spindle synchronization speed arrival level
6673 3173
Unit of data: 1 min-1 (when parameter No. 4006#2(SPDUNT) = 1, 10 min-1)

Standard setting: 0
For the synchronization speed command at spindle synchronization
control, if the deviations of the respective spindle motor speeds are
within the setting level, the spindle synchronization speed control
complete signal (FSPSY) becomes "1".
0 15 15i 16i/16
6534 3034 3034 4034 Shift amount at spindle phase synchronization control
6674 3174

Standard setting: 0
Sets the shift amount from the reference position at spindle phase
synchronization control (one-rotation signal).
0 15 15i 16i/16
6535 3035 3035 4035 Spindle phase synchronization compensation data
6675 3175
Unit of data: 1 pulse/2msec

This parameter reduces speed fluctuations when aligning phase of
spindles in spindle phase synchronization control.
When this parameter is "0", since the phase alignment amount is only
issued once, the position deviation 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.
0 15 15i 16i/16
6536 3036 3036 4036 Feed forward coefficient
6676 3176
Unit of data: 1%
Valid data range: 0 to 100(0 to 100%)
Standard setting: 0
Set the feed forward coefficient when feed forward control is
executed in servo mode (rigid tap/Cs axis control etc.) and spindle
positioning.
- 122 -
0 15 15i 16i/16
6537 3037 3037 4037 Velocity loop feed forward coefficient
6677 3177
Unit of data:
Standard setting: 0
Set the velocity loop feed forward coefficient when feed forward
control is executed in servo mode (rigid tap/spindle positioning etc.)
and Cs contouring control.
0 15 15i 16i/16
6678 3178
Unit of data: 1 min-1 (when parameter No. 4006#2(SPDUNT) = 1, 10 min-1)

Standard setting: 0
This parameter sets the orientation speed at the end of the spindle.
When the function for spindle orientation with a reference switch is to
be used, set this parameter.
When 0 is set for this parameter, the orientation speed is determined
by parameters such as parameter No. 4076.
0 15 15i 16i/16
6539 3039 3039 4039 Slip compensation coefficient
6679 3179
0 15 15i 16i/16
6540 3040 3040 4040 Velocity loop proportional gain on normal operation (HIGH) CTH1A=0
6680 3180
0 15 15i 16i/16
6541 3041 3041 4041 Velocity loop proportional gain on normal operation (LOW) CTH1A=1
6681 3181
Unit of data:
This data is used to set the velocity loop proportional gain on normal
operation.
When the clutch/gear signal (CTH1A) as input signal is set to "0" and
"1", the parameters of HIGH and LOW gears are selected,
respectively.
- 123 -
0 15 15i 16i/16
6542 3042 3042 4042 Velocity loop proportional gain on orientation (HIGH) CTH1A=0
6682 3182
0 15 15i 16i/16
6543 3043 3043 4043 Velocity loop proportional gain on orientation (LOW) CTH1A=1
6683 3183
Unit of data:
This data is used to set the velocity loop proportional gain on spindle
orientation.
0 15 15i 16i/16
6544 3044 3044 4044 Velocity loop proportional gain on servo mode/on synchronization control
6684 3184 (HIGH) CTH1A=0
0 15 15i 16i/16
6545 3045 3045 4045 Velocity loop proportional gain on servo mode/on synchronization control
6685 3185 (LOW) CTH1A=1
Unit of data:
This sets velocity loop proportional gain in servo mode (rigid
tap/spindle positioning etc.) and in synchronization control.
0 15 15i 16i/16
6546 3046 3046 4046 Velocity loop proportional gain in Cs contouring control (HIGH) CTH1A=0
6686 3186
0 15 15i 16i/16
6547 3047 3047 4047 Velocity loop proportional gain in Cs contouring control (LOW) CTH1A=1
6687 3187
Unit of data:
This sets the velocity loop proportional gain in Cs contouring control.
- 124 -
0 15 15i 16i/16
6548 3048 3048 4048 Velocity loop integral gain on normal operation (HIGH) CTH1A=0
6688 3188
0 15 15i 16i/16
6549 3049 3049 4049 Velocity loop integral gain on normal operation (LOW) CTH1A=1
6689 3189
Unit of data:
This data is used to set the velocity loop integral gain on normal
operation.
0 15 15i 16i/16
6550 3050 3050 4050 Velocity loop integral gain on orientation (HIGH) CTH1A=0
6690 3190
0 15 15i 16i/16
6551 3051 3051 4051 Velocity loop integral gain on orientation (LOW) CTH1A=1
6691 3191
Unit of data:
This data is used to set the velocity loop integral gain on spindle
orientation.
0 15 15i 16i/16
6552 3052 3052 4052 Velocity loop integral gain on servo mode/on synchronization control (HIGH)
6692 3192 CTH1A=0
0 15 15i 16i/16
6553 3053 3053 4053 Velocity loop integral gain on servo mode/on synchronization control (LOW)
6693 3193 CTH1A=1
Unit of data:
This sets velocity loop integral gain in servo mode (rigid tap/spindle
positioning etc.) and in synchronization control.
- 125 -
0 15 15i 16i/16
6554 3054 3054 4054 Velocity loop integral gain in Cs contouring control (HIGH) CTH1A=0
6694 3194
0 15 15i 16i/16
6555 3055 3055 4055 Velocity loop integral gain in Cs contouring control (LOW) CTH1A=1
6695 3195
Unit of data:
This sets the velocity loop integral gain in Cs contouring control.
0 15 15i 16i/16
6556 3056 3056 4056 Gear ratio (HIGH) CTH1A=0, CTH2A=0
6696 3196
0 15 15i 16i/16
6557 3057 3057 4057 Gear ratio (MEDIUM HIGH) CTH1A=0, CTH2A=1
6697 3197
0 15 15i 16i/16
6558 3058 3058 4058 Gear ratio (MEDIUM LOW) CTH1A=1, CTH2A=0
6698 3198
0 15 15i 16i/16
6559 3059 3059 4059 Gear ratio (LOW) CTH1A=1, CTH2A=1
6699 3199

Standard setting : 100(Gear ratio=1:1)
These data are used to set the gear ratio between spindle and spindle
motor.
Set the gear or clutch status to correspond to the clutch/gear signal
(CTH1A, CTH2A) in the spindle control signals sent from the PMC
to CNC.
This parameter does not affect the motor speed during normal
rotation.
(Example) When the spindle rotates once, set "250" as the data when the motor
rotates 2.5 times.
- 126 -
0 15 15i 16i/16
6560 3060 3060 4060 Position gain on orientation (HIGH) CTH1A=0, CTH2A=0
6700 3200
0 15 15i 16i/16
6561 3061 3061 4061 Position gain on orientation (MEDIUM HIGH) CTH1A=0, CTH2A=1
6701 3201
0 15 15i 16i/16
6562 3062 3062 4062 Position gain on orientation (MEDIUM LOW) CTH1A=1, CTH2A=0
6702 3202
0 15 15i 16i/16
6563 3063 3063 4063 Position gain on orientation (LOW) CTH1A=1, CTH2A=1
6703 3203
Unit of data: 0.01sec-1

These data are used to set the position gain on spindle orientation.
0 15 15i 16i/16
6564 3064 3064 4064 Modification rate of position gain on orientation completion
6704 3204
Unit of data: 1%
This data is used to set the modification rate of position gain on
spindle orientation completion.
- 127 -
0 15 15i 16i/16
6565 3065 3065 4065 Position gain on servo mode/on synchronization control (HIGH)
6705 3205 CTH1A=0, CTH2A=0
0 15 15i 16i/16
6566 3066 3066 4066 Position gain on servo mode/on synchronization control (MEDIUM HIGH)
6706 3206 CTH1A=0, CTH2A=1
0 15 15i 16i/16
6567 3067 3067 4067 Position gain on servo mode/on synchronization control (MEDIUM LOW)
6707 3207 CTH1A=1, CTH2A=0
0 15 15i 16i/16
6568 3068 3068 4068 Position gain on servo mode/on synchronization control (LOW)
6708 3208 CTH1A=1, CTH2A=1

This sets position gain in servo mode (rigid tap/spindle positioning
etc.) and in synchronization control.
0 15 15i 16i/16
6569 3069 3069 4069 Position gain in Cs contouring control (HIGH) CTH1A=0, CTH2A=0
6709 3209
0 15 15i 16i/16
6570 3070 3070 4070 Position gain in Cs contouring control (MEDIUM HIGH) CTH1A=0, CTH2A=1
6710 3210
0 15 15i 16i/16
6571 3071 3071 4071 Position gain in Cs contouring control (MEDIUM LOW) CTH1A=1, CTH2A=0
6711 3211
0 15 15i 16i/16
6572 3072 3072 4072 Position gain in Cs contouring control (LOW) CTH1A=1, CTH2A=1
6712 3212

This sets the position gain in Cs contouring control.
- 128 -
0 15 15i 16i/16
6573 3073 3073 4073 Grid shift amount in servo mode
6713 3213

Standard setting: 0
Set this parameter when shifting reference position in servo mode
(rigid tap/spindle postioning etc.).
Spindle reference position shifts for set pulse in CCW direction.
0 15 15i 16i/16
6574 3074 3074 4074 Speed for return to reference position in Cs contouring control/servo mode
6714 3214
Unit of data: min-1

Standard setting: 0
When this parameter is set to 0
In returning to the reference position in Cs contouring control, the
feedrate set in the parameter (No. 4021) for specifying the
maximum feedrate for Cs contouring control is used. When a high
feedrate is used in returning to the reference position, set a desired
feedrate in this parameter.
In returning to the reference position in the servo mode (spindle
positioning/rigid tapping), the feedrate determined by the spindle
orientation mode feedrate limit parameter (No. 4076) is used.
When a high feedrate is used in returning to the reference position,
set a desired feedrate in this parameter.
When this parameter is set to a value other than 0
In returning to the reference position in Cs contouring control/servo
mode, the spindle feedrate in this parameter is used.
0 15 15i 16i/16
6575 3075 3075 4075 Orientation completion signal detection level
6715 3215
Unit of data: Position coder method → ±1 pulse unit

This data is used to set the detecting level of orientation completion
signal (ORARA).
When the spindle position is located within the setting data on
orientation completion, the bit of orientation completion signal
(ORARA) in the spindle control signals is set to "1".
- 129 -
0 15 15i 16i/16
6576 3076 3076 4076 Motor speed limit value on orientation
6716 3216
Unit of data: 1%
This data is used to set the orientation speed limit value.
Orientation speed (motor speed) [min-1]=
(position gain)×(Gear ratio) ×60× (this parameter settings)/100
0 15 15i 16i/16
6717 3217
Unit of data: Position coder method→ ±1 pulse unit

Valid data range: Position coder method→ -4095 to 4095
Standard setting: 0
In the position coder method orientation, set this data to shift stop
position.
Spindle is shift No. of setting pulse in CCW direction, and stops by
data (+).
0 15 15i 16i/16
6580 3080 3080 4080 Regenerative power limit for high-speed zone/Limitation of regenerative power
6720 3220
Usually, set the standard value for the motor being used.
If a value greater than the standard value is set, a power circuit device
may be damaged by an excessive load.
0 15 15i 16i/16
6581 3081 3081 4081 Delay time until the motor power is cut off
6721 3221
Unit of data: 10ms

Standard setting: 20(200ms)
The motor power is cut off after stopping the motor (zero speed
detection signal SSTA = 1 is detected).
However, when the power is cut off immediately after detecting the
zero speed signal, the motor may be operated at low speed due to
force of habit.
Detect the zero speed signal and then set the time until the motor
power is cut off by this parameter.
- 130 -
0 15 15i 16i/16
6582 3082 3082 4082 Time setting during acceleration/deceleration
6722 3222
Unit of data: 1sec

When the deviation between the velocity command and motor speed
exceeds the setting level, an velocity error excess alarm (AL-02)
occurs.
However, if the velocity command is changed during acceleration/
deceleration, the motor speed cannot follow it. Thus, a velocity error
excess alarm (AL-02) occurs.
In this case, set the acceleration/deceleration time for preventing
velocity error excess alarm from occurring even if there is a speed
error during the time set by this parameter.
When the lathe load inertia is large, the acceleration/deceleration time
becomes longer. Thus, set the value accordingly.
0 15 15i 16i/16
6583 3083 3083 4083 Motor voltage setting on normal rotation
6723 3223
0 15 15i 16i/16
6724 3224
0 15 15i 16i/16
6585 3085 3085 4085 Motor voltage setting on servo mode/on synchronization control
6725 3225
0 15 15i 16i/16
6586 3086 3086 4086 Motor voltage setting in Cs contouring control
6726 3226
Unit of data: 1%
Standard setting: Depends on the motor model
When performing rigid tapping, usually set the motor voltage to 100
in servo mode.
operation.
during Cs contouring control or servo mode is set for less than "100".
- 131 -
0 15 15i 16i/16
6587 3087 3087 4087 Overspeed level
6727 3227
Unit of data: 1%
This data is used to set the overspeed level.
When the speed exceeds the value of "maximum speed × (setting
data) %", an overspeed alarm (AL-07) occurs.
0 15 15i 16i/16
6588 3088 3088 4088 Velocity error excess detecting level on motor shaft lock condition
6728 3228
Unit of data: 0.01%

This data is used to set the velocity error excess detecting level on
motor shaft lock condition.
When the motor is locked and the velocity error exceeds the value of
"maximum speed × (setting data)%", a motor shaft lock alarm (AL-
31) occurs.
0 15 15i 16i/16
6589 3089 3089 4089 Velocity error excess detecting level on motor rotation
6729 3229
Unit of data: 0.1%

This data is used to set the velocity error excess detecting level on
motor rotation.
When the velocity error exceeds the value of "maximum speed ×
(setting data) %", a velocity error excess alarm (AL-02) occurs.
0 15 15i 16i/16
6590 3090 3090 4090 Overload detecting level
6730 3230
Unit of data: 1%
This data is used to set the overload detecting level.
When the motor load remains to be equal to or more than the value of
"maximum power (load meter 10V)%" for a long time, a short-time
overload alarm (AL-29) occurs.
- 132 -
0 15 15i 16i/16
6591 3091 3091 4091 The reduction rate of position loop gain in returning to the reference position
6731 3231 on servo mode
Unit of data: 1%
This sets the reduction rate of position gain in returning to the
reference position in servo mode (rigid tap/spindle positioning etc.)
0 15 15i 16i/16
- - 3093 4093 Value displayed on the load meter at maximum output : low speed range
0 15 15i 16i/16
6592 3092 3092 4092 The reduction rate of position loop gain in returning to the reference position
on Cs contouring mode
6732 3232
Unit of data: 1%
This sets the reduction rate of position gain in returning to the
reference position in Cs contouring control.
0 15 15i 16i/16
6594 3094 3094 4094 The constant of the torque disturbance compensating (acceleration feedback
6734 3234 gain)
Unit of data:
Standard setting: 0
This sets a constant when compensating for torque disturbance in Cs
contouring control.
0 15 15i 16i/16
6595 3095 3095 4095 Adjustment of speed meter output voltage
6735 3235
Unit of data: 0.1%

Valid data range: -1000 to +100(-100% to +10%)
Standard setting: 0
This parameter is set when carrying out minute adjustments of speed
meter output voltage.
Output voltage becomes large in + data.
- 133 -
0 15 15i 16i/16
6596 3096 3096 4096 The adjustment of load meter output voltage
6736 3236
Unit of data: 0.1%

Valid data range: -1000 to +100(-100% to +10%)
Standard setting: 0
This parameter is set when carrying out minute adjustments of load
meter output voltage.
Output voltage becomes large in positive (+) data.
0 15 15i 16i/16
6597 3097 3097 4097 Spindle speed feedback gain
6737 3237
Unit of data:
Standard setting: 0
This parameter is set to feed back spindle speed and compensate for
torque disturbance in Cs contouring control in systems where spindles
and spindle motors are linked by gears or belts.
0 15 15i 16i/16
6598 3098 3098 4098 Maximum speed of position feedback signal detection
6738 3238
Unit of data: 1 min-1 (When parameter No. 4006 #2 (SPDUNT)=1, 10 min-1)

Standard setting: 0
Parameter for setting the maximum speed of position feedback signal
detections possible.
If the parameter is set to "0", the speed of detections possible is the
same as the maximum speed for the motor.
0 15 15i 16i/16
6599 3099 3099 4099 Delay time for motor excitation
6739 3239
Unit of data: 1ms

Standard setting: 0
Parameter for setting the time until motor excitation is stable in rigid
tap and Cs contouring control modes.
- 134 -
0 15 15i 16i/16
6600 3100 3100 4100 Base speed of motor power specifications
6740 3240
0 15 15i 16i/16
6601 3101 3101 4101 Torque limit value for motor power specifications
6741 3241
0 15 15i 16i/16
6602 3102 3102 4102 Activating voltage saturation speed at no-load
6742 3242
0 15 15i 16i/16
6603 3103 3103 4103 Base speed limit ratio
6743 3243
0 15 15i 16i/16
6604 3104 3104 4104 Current loop proportional gain data
6744 3244
0 15 15i 16i/16
6606 3106 3106 4106 Current loop integral gain data
6746 3246
0 15 15i 16i/16
6608 3108 3108 4108 Current loop integral gain zero point
6748 3248
0 15 15i 16i/16
6609 3109 3109 4109 Filter time constant for processing saturation related to the voltage
6749 3249 command
0 15 15i 16i/16
6610 3110 3110 4110 Current conversion constant
6750 3250
0 15 15i 16i/16
6611 3111 3111 4111 Secondary current coefficient
6751 3251
0 15 15i 16i/16
6612 3112 3112 4112 Criterion level for saturation related to the voltage command /
6752 3252 PWM command clamp value
0 15 15i 16i/16
6613 3113 3113 4113 Slip constant
6753 3253
- 135 -
0 15 15i 16i/16
6614 3114 3114 4114 Slip compensation coefficient for a high-speed zone /
6754 3254 slip compensation coefficient at deceleration
0 15 15i 16i/16
6615 3115 3115 4115 PWM command clamp value at deceleration
6755 3255
0 15 15i 16i/16
6616 3116 3116 4116 Motor leakage constant
6756 3256
0 15 15i 16i/16
6617 3117 3117 4117 Regular-time voltage compensation coefficient for high-speed zone /
6757 3257 regular-time motor voltage coefficient
0 15 15i 16i/16
6618 3118 3118 4118 Acceleration-time voltage compensation coefficient for high-speed zone /
6758 3258 acceleration-time motor voltage coefficient
0 15 15i 16i/16
6619 3119 3119 4119 Deceleration-time activating current change time constant /
6759 3259 activating current change time constant
0 15 15i 16i/16
6620 3120 3120 4120 Rectangular-wave component zero voltage / dead-zone compensation data
6760 3260
0 15 15i 16i/16
6621 3121 3121 4121 Time constant of torque change
6761 3261
Unit of data: 1ms

Standard setting: 5
0 15 15i 16i/16
6622 3122 3122 4122 Speed detection filter time constant
6762 3262
Unit of data: 0.1ms

Standard setting: 0
- 136 -
0 15 15i 16i/16
6623 3123 3123 4123 Overload detecting time
6763 3263
Unit of data: 1sec

0 15 15i 16i/16
6627 3127 3127 4127 Load meter display value on maximum power
6767 3267
0 15 15i 16i/16
6628 3128 3128 4128 Maximum torque curve compensation coefficient
6768 3268
0 15 15i 16i/16
6629 3129 3129 4129 Secondary electrical current coefficient on rigid tap
6769 3269
0 15 15i 16i/16
6630 3130 3130 4130 Current loop proportional gain speed coefficient /
6770 3270 current phase delay compensation coefficient
0 15 15i 16i/16
6631 3131 3131 4131 Speed detection filter time constant (on Cs contouring control)
6771 3271
Unit of data: 0.1ms

Standard setting: 0
0 15 15i 16i/16
6632 3132 3132 4132 V-phase current conversion constant
6772 3272
Unit of data:
Standard setting: 0
- 137 -
6633 3133 3133 4133 Motor model code

6773 3273
Unit of data:
Valid data range:
Set the model code when automatic setting the first parameters of the
spindle motor.
At this time it is necessary to set the following parameters
simultaneously.
Series 16/16i : Parameter PRLOAD(No.4019 #7)=1
Series 15/15i : Parameter PRLOAD(No.5607 #0)=0
Series 0 : Parameter PRLOAD(No.6519 #7)=1
0 15 15i 16i/16
6634 3134 3134 4134 Motor overheat level (LONG WORD)
6774 3274
0 15 15i 16i/16
6635 3135 3135 4135 Grid shift amount in Cs contouring control (LONG WORD)
6775 3275
Unit of data: Number of pulses (0.001°)

Valid data range: -360000 to +360000
Standard setting: 0
Set the pulse from one rotation signal to machine zero point in Cs
contouring control.
0 15 15i 16i/16
6900 3280 3136 4136 Motor voltage setting on normal rotation : low speed range
6940 3500
0 15 15i 16i/16
6901 3281 3137 4137 Motor voltage setting on servo mode/on synchronization control : low speed
6941 3501 range
Unit of data: 1%
operation.
during servo mode is set for less than "100".
- 138 -
0 15 15i 16i/16
6902 3282 3138 4138 Base speed of motor power specifications : low speed range
6942 3502
0 15 15i 16i/16
6903 3283 3139 4139 Torgue limit value for motor power specifications : low speed range
6943 3503
0 15 15i 16i/16
6904 3284 3140 4140 Activating voltage saturation speed at no-load : low speed range
6944 3504
0 15 15i 16i/16
6905 3285 3141 4141 Base speed limit ratio : low speed range
6945 3505
0 15 15i 16i/16
6906 3286 3142 4142 Current loop proportional gain data : low speed range
6946 3506
0 15 15i 16i/16
6907 3287 3143 4143 Current loop integral gain data : low speed range
6947 3507
0 15 15i 16i/16
6908 3288 3144 4144 Current loop integral gain zero point : low speed range
6948 3508
0 15 15i 16i/16
6949 3509 command : low speed range
0 15 15i 16i/16
6910 3290 3146 4146 Current conversion constant : low speed range
6950 3510
0 15 15i 16i/16
6911 3291 3147 4147 Secondary current coefficient : low speed range
6951 3511
0 15 15i 16i/16
6912 3292 3148 4148 Criterion level for saturation related to the voltage command /
6952 3512 PWM command clamp value : low speed range
0 15 15i 16i/16
6913 3293 3149 4149 Slip constant : low speed range
6953 3513
- 139 -
0 15 15i 16i/16
6914 3294 3150 4150 Slip compensation coefficient for a high-speed zone /
6954 3514 slip compensation coefficient at deceleration : low speed range
0 15 15i 16i/16
6915 3295 3151 4151 PWM command clamp value at deceleration : low speed range
6955 3515
0 15 15i 16i/16
6916 3296 3152 4152 Motor leakage constant : low speed range
6956 3516
0 15 15i 16i/16
6917 3297 3153 4153 Regular-time voltage compensation coefficient for high-speed zone /
6957 3517 regular-time motor voltage coefficient : low speed range
0 15 15i 16i/16
6918 3298 3154 4154 Acceleration-time voltage compensation coefficient for high-speed zone/
acceleration-time motor voltage coefficient : low speed range
6958 3518
0 15 15i 16i/16
6920 3300 3156 4156 Slip compensation coefficient : low speed range
6960 3520
0 15 15i 16i/16
6921 3301 3157 4157 Time constant of torque change : low speed range
6961 3521
Unit of data: 1ms

Standard setting: 5
- 140 -
0 15 15i 16i/16
6922 3302 3158 4158 Maximum torque curve compensation coefficient : low speed range
6962 3522
0 15 15i 16i/16
6923 3303 3159 4159 Secondary electrical current coefficient on rigid tapping : low speed range
6963 3523
0 15 15i 16i/16
6924 3304 3160 4160 Speed detection level hysteresis
6964 3524
Unit of data: 1 min-1 (When parameter No. 4006 #2 (SPDUNT)=1, 10 min-1)

Standard setting: 0
Set the hysteresis for the speed detection level.
The speed detection level is set by parameter. The speed detection
signal (SDT) changes from 1 to 0 with the set speed detection level +
hysteresis number of revolutions, and changes from 0 to 1 with the set
speed detection level number of revolutions. If this data is set to 20
min-1 or less, the hysteresis is automaitcally 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 number of revolutions
for the speed detection level.
0 15 15i 16i/16
6925 3305 3161 4161 Current loop proportional gain speed coefficient/
6965 3525 current phase delay compensation coefficient : low speed range
0 15 15i 16i/16
6926 3306 3162 4162 Velocity loop integral gain on Cs contouring control cutting feed (HIGH)
6966 3526 CTH1A=0
0 15 15i 16i/16
6927 3307 3163 4163 Velocity loop integral gain on Cs contouring control cutting feed (LOW)
6967 3527 CTH1A=1
Unit of data:
Standard setting: 0
Set the velocity loop integral gain when cutting feed (G01, G02, G03)
is operating in the Cs contouring control mode.
When the data is "0", parameters (No. 4054 and 4055) data become
valid.
- 141 -
0 15 15i 16i/16
6928 3308 3164 4164 V-phase current conversion constant : low speed range
6968 3528
Unit of data:
Standard setting: 0
0 15 15i 16i/16
6929 3309 3165 4165 Deceleration-time activating current change time constant/
6969 3529 activating current change time constant : low speed range
0 15 15i 16i/16
6930 3310 3166 4166 Regenerative power limit for high-speed zone/regenerative power limit : low
6970 3530 speed range
0 15 15i 16i/16
6932 3312 3168 4168 Overload current alarm detection level : low speed range
6972 3532
Unit of data:
0 15 15i 16i/16
6933 3313 3169 4169 Overload current alarm detection time constant
6973 3533
0 15 15i 16i/16
6934 3314 3170 4170 Overload current alarm detection level
6974 3534
Unit of data:
- 142 -
0 15 15i 16i/16
6935 3315 3171 4171 Denominator of gear ratio between motor sensor and spindle (HIGH)CTH1A=0
6975 3535
0 15 15i 16i/16
6936 3316 3172 4172 Numerator of gear ratio between motor sensor and spindle (HIGH) CTH1A=0
6976 3536
0 15 15i 16i/16
6937 3317 3173 4173 Denominator of gear ratio between motor sensor and spindle (LOW)CTH1A=1
6977 3537
0 15 15i 16i/16
6938 3318 3174 4174 Numerator of gear ratio between motor sensor and spindle (LOW) CTH1A=1
6978 3538
Unit of data:
Standard setting: 0
are:
No. 4171 (No. 4173 when CTH1A = 1) = P
No. 4172 (No. 4174 when CTH1A = 1) = Q
0 15 15i 16i/16
6939 3319 3175 4175 Analog override zero level
6979 3539
0 15 15i 16i/16
6211 3391 3247 4247 Time constant for spindle load monitor magnetic flux compensation
6391 3611
0 15 15i 16i/16
6212 3392 3248 4248 Spindle load monitor torque constant
6392 3612
Unit of data:
- 143 -
0 15 15i 16i/16
6213 3393 3249 4249 Spindle load monitor observer gain 1
6393 3613
Unit of data:
0 15 15i 16i/16
6394 3614
Unit of data:
0 15 15i 16i/16
6215 3395 3251 4251 Time constant for spindle load monitor magnetic flux compensation : low
6395 3615 speed range
0 15 15I 16i/16
6245 3425 3281 4281 Spindle load monitor torque constant : low speed range
6425 3645
- 144 -
0 15 15i 16i/16
6284 3464 3320 4320 Motor deceleration constant (HIGH) CTH1A=0, CTH2A=0
6464 3684
0 15 15i 16i/16
6285 3465 3321 4321 Motor deceleration constant (MEDIUM HIGH) CTH1A=0, CTH2A=1
6465 3685
0 15 15i 16i/16
6286 3466 3322 4322 Motor deceleration constant (MEDIUM LOW) CTH1A=1, CTH2A=0
6466 3686
0 15 15i 16i/16
6287 3467 3323 4323 Motor deceleration constant (LOW) CTH1A=1, CTH2A=1
6467 3687
Unit of data: 10min-1/sec

Standard setting: 0
Set a motor deceleration time constant in high-speed orientation.
When 0 is set, the high-speed orientation function is disabled, and the
normal orientation function is enabled.
The parameter settings are given as follows:
τ 60
Deceleration time constant = × × (0.8to0.9)
J 2π
where
τ(Nm): Maximum motor torque at the highest orientation speed (No.
4038)
J(kgm2): Motor inertia + load inertia
0 15 15i 16i/16
6290 3470 3326 4326 Speed at which deceleration time constant restriction starts (HIGH) CTH1A=0
6470 3690
0 15 15i 16i/16
6292 3472 3328 4328 Command multiplier for spindle orientation by a position coder
6472 3692
Unit of data:
Standard setting: 0
Set a command multiplier for the spindle orientation function with an
externally set incremental command.
When 0 is set in these parameters, 1 is assumed to have been
specified.
- 145 -
0 15 15i 16i/16
6294 3474 3330 4330 Speed at which deceleration time constant restriction starts (LOW) CTH1A=1
6474 3694
Unit of data: 1min-1

Standard setting: 0
Set the motor speed at which deceleration time constant restriction
starts. When 0 is set, the lowest orientation speed calculated in the
software is set.
0 15 15i 16i/16
6298 3478 3334 4334 Arbitrary number of speed detector pulses
6478 3698
Unit of data: 1 λ/rev (number of speed detector teeth)

Valid data range: 0 , 32 to 1024
Standard setting: 0
Set these parameters when the number of teeth of the speed detector
mounted onto the motor is other than 64, 128, 256, 512, 192, or 384.
When 0 is set in these parameters, the settings of bits 2, 1, 0 (VDT3, 2,
1) of parameter No. 4011 and bits 2, 1, 0 (VDT3, 2, 1) of parameter
No. 4187 are assumed, respectively.
0 15 15i 16i/16
6300 3480 3336 4336 Switching point used for an acceleration/deceleration time constant used for
6480 3700 spindle synchronization control
Unit of data: 1 min-1(10 min-1 when parameter No. 4006 #2 (SPDUNT) is set to 1)
Standard setting: 0
Set a speed for switching the acceleration/deceleration time constant
used for spindle synchronization control.
In the area below the speed set in this parameter,
acceleration/deceleration is performed according to the time constant
set in parameter No. 4032 (acceleration/deceleration time constant at
spindle synchronization control).
In the area above the speed set in this parameter, the time constant
varies with the torque characteristics.
performed. Set a time constant in parameter No. 4032.
The same value must be specified in this parameter and parameter No.
4032 for the first and second spindles, subject to spindle
synchronization.
- 146 -
0 15 15i 16i/16
6303 3483 3339 4339 Torque clamp level
6483 3703
Unit of data: 1%
Standard setting: 0
0 15 15i 16i/16
6304 3484 3340 4340 Bell-shaped acceleration/deceleration time constant for spindle
6484 3704 synchronization
Unit of data: 1msec

Standard setting: 0
Set this parameter to reduce the synchronization error between the
spindles near the start and end points of linear acceleration/
deceleration in spindle synchronization.
performed.
The same value must be specified in this parameter for the two
spindles subject to spindle synchronization.
0 15 15i 16i/16
6305 3485 3341 4341 Unexpected load detection level
6485 3705
Unit of data: 0.01%

Standard setting: 0
Set a level for detecting the unexpected load signal by specifying a
ratio to the maximum motor output torque.
When 0 is set in this parameter, the unexpected load detection signal
is not output.
0 15 15i 16i/16
6308 3488 3344 4344 Advanced feed-forward coefficient
6488 3708
Unit of data: 0.01%

Standard setting: 0
- 147 -
0 15 15i 16i/16
6309 3489 3345 4345 Spindle motor speed command detection level
6489 3709
Unit of data: 1min-1

Standard setting: 0
Set a level for detecting the speed command detection signal
(VCMLVL) output from the spindle amplifier to the CNC.
When 0 is set in this parameter, the speed command detection signal
(VCMLVL) is always 0.
0 15 15i 16i/16
6310 3490 3346 4346 Incomplete integration coefficient
6490 3710
Unit of data:
Standard setting: 0
When 0 is set in this parameter, complete integration is used.
0 15 15i 16i/16
6315 3495 3351 4351 Current detection offset compensation
6495 3715
Unit of data:
Valid data range: 0 to ±32767
Standard setting: 0
0 15 15i 16i/16
- 3719 3355 4355 Motor sensor signal amplitude ratio compensation
3761
Unit of data: 1%
Standard setting: 0
0 15 15i 16i/16
- 3720 3356 4356 Motor sensor signal phase difference compensation
3762
Unit of data: 1°
Standard setting: 0
- 148 -
0 15 15i 16i/16
- 3721 3357 4357 Spindle sensor signal amplitude ratio compensation
3763
Unit of data: 1%
Standard setting: 0
0 15 15i 16i/16
- 3722 3358 4358 Spindle sensor signal phase difference compensation
3764
Unit of data: 1°
Standard setting: 0
0 15 15i 16i/16
- 3725 3361 4361 Arbitrary pulse count for the position detector
3767
Unit of data: 1λ/rev

Valid data range: 0, 32 to 4096
Standard setting: 0
0 15 15i 16i/16
- 3726 3362 4362 Load meter compensation 1
3768
0 15 15i 16i/16
3769
0 15 15i 16i/16
3770
0 15 15i 16i/16
- 3729 3365 4365 Load meter compensation 1 (low speed range)
3771
0 15 15i 16i/16
3772
0 15 15i 16i/16
3773
- 149 -
0 15 15i 16i/16
- - 3391 4391 Center frequency of the oscillation control filter
Unit of data: 1Hz

Valid data range: 0, 96 to 992
Standard setting: 0
0 15 15i 16i/16
- - 3392 4392 Oscillation control filter range
Unit of data: 1Hz

Valid data range: 0, 20, 30, 40
Standard setting: When this data is 0, the oscillation control filter function is disabled.
- 150 -
APPENDIX
B-65280EN/01 APPENDIX A.SPINDLE PARAMETER TABLE
A SPINDLE PARAMETER TABLE

Spindle parameters are classified into the following types:
A : Parameters related to the setup of detectors
B : Parameters related to the setup of various functions
(operating modes)
C : Unique parameters for the drive of spindle motors
(Set the parameter data according to the parameter list for each
motor model.)
D : Parameters related to the setting of alarm detection conditions
- 153 -
A.SPINDLE PARAMETER TABLE APPENDIX B-65280EN/01
FS0 FS15 Standard Application Internal

FS16i initial MAIN MAIN SUB SUB Classi- data
1st 2nd 1st 2nd FS15i Contents
/16 setting High- Low- High- Low- fication number
Spindle Spindle Spindle Spindle
data speed speed speed speed F-xxx
Spindle and motor rotation
6500#0 6640#0 3000#0 3140#0 3000#0 4000#0 0 O O A 000#8
direction
Move command and spindle
6500#1 6640#1 3000#1 3140#1 3000#1 4000#1 0 rotation direction in Cs contour O O B 000#9
control mode
6500#2 6640#2 3000#2 3140#2 3000#2 4000#2 0 000#10
Return direction for the
6500#3 6640#3 3000#3 3140#3 3000#3 4000#3 0 reference position in Cs contour O O B 000#11
control mode
Return direction for the
6500#4 6640#4 3000#4 3140#4 3000#4 4000#4 0 reference position in servo O O B 000#12
mode
6500#5 6640#5 3000#5 3140#5 3000#5 4000#5 0 000#13
6500#6 6640#6 3000#6 3140#6 3000#6 4000#6 0 000#14
6500#7 6640#7 3000#7 3140#7 3000#7 4000#7 0 000#15
Whether to use MRDY (machine
6501#0 6641#0 3001#0 3141#0 3001#0 4001#0 1 O O B 000#0
ready) signal
6501#1 6641#1 3001#1 3141#1 3001#1 4001#1 0 000#1
6501#2 6641#2 3001#2 3141#2 3001#2 4001#2 0 000#2
6501#3 6641#3 3001#3 3141#3 3001#3 4001#3 0 000#3
Mounting direction of the spindle
6501#4 6641#4 3001#4 3141#4 3001#4 4001#4 0 O O A 000#4
sensor
6501#5 6641#5 3001#5 3141#5 3001#5 4001#5 0 000#5
6501#6 6641#6 3001#6 3141#6 3001#6 4001#6 0 000#6
6501#7 6641#7 3001#7 3141#7 3001#7 4001#7 0 000#7
001
6502 6642 3002 3142 3002 4002
0,0,0,0 Spindle sensor type O O A #11,10,
#3,2,1,0 #3,2,1,0 #3,2,1,0 #3,2,1,0 #3,2,1,0 #3,2,1,0
9,8
Rotation direction signal
6502#4 6642#4 3002#4 3142#4 3002#4 4002#4 0 function in Cs contour control O O B 001#12
mode
6502#5 6642#5 3002#5 3142#5 3002#5 4002#5 0 O O B 001#13
function in servo mode
6502#6 6642#6 3002#6 3142#6 3002#6 4002#6 0 function during spindle O O B 001#14
synchronization control
6502#7 6642#7 3002#7 3142#7 3002#7 4002#7 0 CMR function in servo mode O O B 001#15
6503#0 6643#0 3003#0 3143#0 3003#0 4003#0 0 001#0
6503#1 6643#1 3003#1 3143#1 3003#1 4003#1 0 001#1
6503#3, 6643#3, 3003#3, 3143#3, 3003#3, 4003#3, Rotation direction during spindle
0,0 O O B 001#3,2
2 2 2 2 2 2 orientation
6503#7, 6643#7, 3003#7, 3143#7, 3003#7, 4003#7, Teeth number setting of spindle 001#7,6,
0,0,0,0 O O A
6,5,4 6,5,4 6,5,4 6,5,4 6,5,4 6,5,4 sensor 5,4
6504#0 6644#0 3004#0 3144#0 3004#0 4004#0 0 002#8
6504#1 6644#1 3004#1 3144#1 3004#1 4004#1 0 002#9
6504#3, 6644#3, 3004#3, 3144#3, 3004#3, 4004#3, Setting of external one-rotation 002#11,
0 O O A
2 2 2 2 2 2 signal 10
6504#4 6644#4 3004#4 3144#4 3004#4 4004#4 0 002#12
6504#5 6644#5 3004#5 3144#5 3004#5 4004#5 0 002#13
6504#6 6644#6 3004#6 3144#6 3004#6 4004#6 0 002#14
6504#7 6644#7 3004#7 3144#7 3004#7 4004#7 0 002#15
6505#0 6645#0 3005#0 3145#0 3005#0 4005#0 0 002#0
6505#1 6645#1 3005#1 3145#1 3005#1 4005#1 0 002#1
6505#2 6645#2 3005#2 3145#2 3005#2 4005#2 0 002#2
6505#3 6645#3 3005#3 3145#3 3005#3 4005#3 0 002#3
6505#4 6645#4 3005#4 3145#4 3005#4 4005#4 0 002#4
6505#5 6645#5 3005#5 3145#5 3005#5 4005#5 0 002#5
6505#6 6645#6 3005#6 3145#6 3005#6 4005#6 0 002#6
6505#7 6645#7 3005#7 3145#7 3005#7 4005#7 0 002#7
6506#0 6646#0 3006#0 3146#0 3006#0 4006#0 0 003#8
6506#1 6646#1 3006#1 3146#1 3006#1 4006#1 0 Increment system of gear ratio O O B 003#9
Increment system of spindle
6506#2 6646#2 3006#2 3146#2 3006#2 4006#2 0 O O C 003#10
speed
Automatic detection of one-
6506#3 6646#3 3006#3 3146#3 3006#3 4006#3 0 rotation signal during spindle O O B 003#11
synchronization
6506#4 6646#4 3006#4 3146#4 3006#4 4006#4 0 003#12
6506#5 6646#5 3006#5 3146#5 3006#5 4006#5 0 Setting of analog override range O O B 003#13
- 154 -

FS16i
initial MAIN MAIN SUB SUB Classi- data
setting
/16 High- Low- High- Low- fication number
6506#6 6646#6 3006#6 3146#6 3006#6 4006#6 0 003#14
Setting for rigid tapping using
6506#7 6646#7 3006#7 3146#7 3006#7 4006#7 0 the arbitrary gear ratio O O B 003#15
(specified) with the motor sensor
6507#0 6647#0 3007#0 3147#0 3007#0 4007#0 0 003#0
6507#1 6647#1 3007#1 3147#1 3007#1 4007#1 0 003#1
6507#2 6647#2 3007#2 3147#2 3007#2 4007#2 0 003#2
6507#3 6647#3 3007#3 3147#3 3007#3 4007#3 0 003#3
6507#4 6647#4 3007#4 3147#4 3007#4 4007#4 0 003#4
Detect disconnection alarm of
6507#5 6647#5 3007#5 3147#5 3007#5 4007#5 0 O O D 003#5
sensor
Determines whether to use
alarms related to position
6507#6 6647#6 3007#6 3147#6 3007#6 4007#6 0 O O D 003#6
feedback signals (in non-Cs
contour control mode).
6507#7 6647#7 3007#7 3147#7 3007#7 4007#7 0 003#7
6508#0 6648#0 3008#0 3148#0 3008#0 4008#0 0 Reserved O C 004#8
6508#1 6648#1 3008#1 3148#1 3008#1 4008#1 0 Reserved O C 004#9
6508#2 6648#2 3008#2 3148#2 3008#2 4008#2 0 Reserved O O C 004#10
6508#3 6648#3 3008#3 3148#3 3008#3 4008#3 0 Reserved O O C 004#11
Depends
Setting of output limitation
6508#4 6648#4 3008#4 3148#4 3008#4 4008#4 on the O O C 004#12
method
model
6508#5 6648#5 3008#5 3148#5 3008#5 4008#5 0 004#13
6508#6 6648#6 3008#6 3148#6 3008#6 4008#6 0 004#14
6508#7 6648#7 3008#7 3148#7 3008#7 4008#7 0 004#15
Setting of units of velocity loop
6509#0 6649#0 3009#0 3149#0 3009#0 4009#0 0 O O B 004#0
gain
6509#1 6649#1 3009#1 3149#1 3009#1 4009#1 0 004#1
Method of cutting off motor
6509#2 6649#2 3009#2 3149#2 3009#2 4009#2 0 O O D 004#2
power when AL-24 occurs
6509#3 6649#3 3009#3 3149#3 3009#3 4009#3 0 004#3
Detect LDT signal during
6509#4 6649#4 3009#4 3149#4 3009#4 4009#4 0 O O B 004#4
acceleration/deceleration
6509#5 6649#5 3009#5 3149#5 3009#5 4009#5 0 Reserved O O C 004#5
6509#6 6649#6 3009#6 3149#6 3009#6 4009#6 0 Analog override type O O B 004#6
6509#7 6649#7 3009#7 3149#7 3009#7 4009#7 0 004#7
Depends
6510 6650 3010 3150 3010 4010 005
on the Motor sensor type O O A
#2,1,0 #2,1,0 #2,1,0 #2,1,0 #2,1,0 #2,1,0 #10,9,8
model
6510#3 6650#3 3010#3 3150#3 3010#3 4010#3 0 005#11
6510#4 6650#4 3010#4 3150#4 3010#4 4010#4 0 005#12
6510#5 6650#5 3010#5 3150#5 3010#5 4010#5 0 005#13
6510#6 6650#6 3010#6 3150#6 3010#6 4010#6 0 005#14
6510#7 6650#7 3010#7 3150#7 3010#7 4010#7 0 005#15
Depends
6511 6665 3011 3151 3011 4011 Teeth number setting of motor 005
on the O O A
#2,1,0 #2,1,0 #2,1,0 #2,1,0 #2,1,0 #2,1,0 sensor #2,1,0
model
Depends
6511#7, 6651#7, 3011#7, 3151#7, 3011#7, 4011#7,
on the Number of motor poles O O C 005#7,3
3 3 3 3 3 3
model
Depends
Setting of maximum output
6511#4 6651#4 3011#4 3151#4 3011#4 4011#4 on the O O C 005#4
during acceleration/deceleration
model
6511#5 6651#5 3011#5 3151#5 3011#5 4011#5 0 005#5
6511#6 6651#6 3011#6 3151#6 3011#6 4011#6 0 005#6
6512#0 6652#0 3012#0 3152#0 3012#0 4012#0 0 Reserved 006#8
Depends
6512#2, 6652#2, 3012#2, 3152#2, 3012#2, 4012#2, Setting of PWM carrier 006#10,
on the O O C
1 1 1 1 1 1 frequency 9
model
6512#3 6652#3 3012#3 3152#3 3012#3 4012#3 0 006#11
6512#4 6652#4 3012#4 3152#4 3012#4 4012#4 0 006#12
6512#5 6652#5 3012#5 3152#5 3012#5 4012#5 0 006#13
6512#6 6652#6 3012#6 3152#6 3012#6 4012#6 0 006#14
6512#7 6652#7 3012#7 3152#7 3012#7 4012#7 1 Setting of spindle HRV control O O C 006#15
6513#0 6653#0 3013#0 3153#0 3013#0 4013#0 0 006#0
6513#1 6653#1 3013#1 3153#1 3013#1 4013#1 0 006#1
- 155 -

6513#6, 6653#6, 3013#6, 3153#6, 3013#6, 4013#6, Depends
006#6,5,
5, 5, 5, 5, 5, 5, on the Current dead zone data O O C
4,3,2
4,3,2 4,3,2 4,3,2 4,3,2 4,3,2 4,3,2 model
Depends
PWM frequency of output
6513#7 6653#7 3013#7 3153#7 3013#7 4013#7 on the O O C 006#7
switching low-speed winding
model
6514#0 6654#0 3014#0 3154#0 3014#0 4014#0 0 007#8
6514#1 6654#1 3014#1 3154#1 3014#1 4014#1 0 007#9
6514#2 6654#2 3014#2 3154#2 3014#2 4014#2 0 007#10
MCC status signal check
6514#3 6654#3 3014#3 3154#3 3014#3 4014#3 0 O O B 007#11
method at output switching
6514#4 6654#4 3014#4 3154#4 3014#4 4014#4 0 007#12
6514#5 6654#5 3014#5 3154#5 3014#5 4014#5 0 007#13
6514#6 6654#6 3014#6 3154#6 3014#6 4014#6 0 007#14
6514#7 6654#7 3014#7 3154#7 3014#7 4014#7 0 007#15
6515#0 6655#0 3015#0 3155#0 3015#0 4015#0 0 Spindle orientation function O O B 007#0
6515#1 6655#1 3015#1 3155#1 3015#1 4015#1 0 Spindle load monitor function O O B 007#1
6515#2 6655#2 3015#2 3155#2 3015#2 4015#2 0 Output switching function O O B 007#2
6515#3 6655#3 3015#3 3155#3 3015#3 4015#3 0 007#3
6515#4 6655#4 3015#4 3155#4 3015#4 4015#4 0 007#4
6515#5 6655#5 3015#5 3155#5 3015#5 4015#5 0 007#5
6515#6 6655#6 3015#6 3155#6 3015#6 4015#6 0 007#6
6515#7 6655#7 3015#7 3155#7 3015#7 4015#7 0 007#7
6516#0 6656#0 3016#0 3156#0 3016#0 4016#0 0 008#8
6516#1 6656#1 3016#1 3156#1 3016#1 4016#1 0 008#9
6516#2 6656#2 3016#2 3156#2 3016#2 4016#2 0 008#10
Whether to use the smoothing
6516#3 6656#3 3016#3 3156#3 3016#3 4016#3 0 function during feed-forward O O B 008#11
control
Setting related to the control
6516#4 6656#4 3016#4 3156#4 3016#4 4016#4 0 characteristics in Cs and SV O O B 008#12
mode
Alarms related to position
6516#5 6656#5 3016#5 3156#5 3016#5 4016#5 0 feedback (in Cs contour control O O D 008#13
mode)
Alarm related to threading
6516#6 6656#6 3016#6 3156#6 3016#6 4016#6 0 position detection signal O O D 008#14
feedback
Setting of the one-rotation signal
6516#7 6656#7 3016#7 3156#7 3016#7 4016#7 0 O O B 008#15
detection condition
6517#0 6657#0 3017#0 3157#0 3017#0 4017#0 0 008#0
6517#1 6657#1 3017#1 3157#1 3017#1 4017#1 0 008#1
6517#2 6657#2 3017#2 3157#2 3017#2 4017#2 0 008#2
6517#3 6657#3 3017#3 3157#3 3017#3 4017#3 0 008#3
6517#4 6657#4 3017#4 3157#4 3017#4 4017#4 0 008#4
6517#5 6657#5 3017#5 3157#5 3017#5 4017#5 0 008#5
6517#6 6657#6 3017#6 3157#6 3017#6 4017#6 0 008#6
Whether to use the short-cut
6517#7 6657#7 3017#7 3157#7 3017#7 4017#7 0 function during orientation from O O B 008#7
stopped state
6518#0 6658#0 3018#0 3158#0 3018#0 4018#0 0 009#8
6518#1 6658#1 3018#1 3158#1 3018#1 4018#1 0 009#9
6518#2 6658#2 3018#2 3158#2 3018#2 4018#2 0 009#10
6518#3 6658#3 3018#3 3158#3 3018#3 4018#3 0 009#11
6518#4 6658#4 3018#4 3158#4 3018#4 4018#4 0 009#12
Whether to use the velocity
command compensation
6518#5 6658#5 3018#5 3158#5 3018#5 4018#5 0 O O B 009#13
function during high-speed
orientation
Whether to use the high-speed
6518#6 6658#6 3018#6 3158#6 3018#6 4018#6 0 O O B 009#14
orientation function
6518#7 6658#7 3018#7 3158#7 3018#7 4018#7 0 009#15
6519#0 6659#0 3019#0 3159#0 3019#0 4019#0 0 009#0
6519#1 6659#1 3019#1 3159#1 3019#1 4019#1 0 009#1
Whether to use torque clamp at
6519#2 6659#2 3019#2 3159#2 3019#2 4019#2 1 O O C 009#2
zero speed
6519#3 6659#3 3019#3 3159#3 3019#3 4019#3 0 009#3
- 156 -

Setting of switching condition
6519#4 6659#4 3019#4 3159#4 3019#4 4019#4 0 O O B 009#4
during output switching
6519#5 6659#5 3019#5 3159#5 3019#5 4019#5 0 009#5
6519#6 6659#6 3019#6 3159#6 3019#6 4019#6 0 009#6
Automatic parameter setting
6519#7 6659#7 3019#7 3159#7 3019#7 4019#7 0 O O B 009#7
function
Depends
6520 6660 3020 3160 3020 4020 on the Maximum motor speed O O C 010
model
Maximum speed in Cs contour
6521 6661 3021 3161 3021 4021 100 O O B 011
control mode
6522 6662 3022 3162 3022 4022 150 Speed arrival detection level O O B 012
6523 6663 3023 3163 3023 4023 30 Speed detection level O O B 013
6524 6664 3024 3164 3024 4024 75 Zero speed detection level O O B 014
6525 6665 3025 3165 3025 4025 50 Limited torque O O B 015
6526 6666 3026 3166 3026 4026 83 Load detection level 1 O O B 016
6527 6667 3027 3167 3027 4027 95 Load detection level 2 O O B 017
6528 6668 3028 3168 3028 4028 0 Limited output pattern O O B 018
6529 6669 3029 3169 3029 4029 100 Output limit O O B 019
6530 6670 3030 3170 3030 4030 0 Soft start/stop time O O B 020
Stop position in orientation by
6531 6671 3031 3171 3031 4031 0 O O B 021
position coder
Acceleration/deceleration time
6532 6672 3032 3172 3032 4032 0 constant during spindle O O B 022
synchronization
Spindle synchronization speed
6533 6673 3033 3173 3033 4033 10 O O B 023
arrival level
Shift during synchronous control
6534 6674 3034 3174 3034 4034 0 O O B 024
of spindle phase
Compensation data for spindle
6535 6675 3035 3175 3035 4035 0 O O B 025
phase synchronization
6536 6676 3036 3176 3036 4036 0 Feed-forward factor O O B 026
Feed-forward factor of velocity
6537 6677 3037 3177 3037 4037 0 O O B 027
loop
6538 6678 3038 3178 3038 4038 0 Spindle orientation speed O O B 028
6539 6679 3039 3179 3039 4039 0 Slip compensation gain O C 029
Proportional gain of velocity loop
6540 6680 3040 3180 3040 4040 10 O O B 030
during normal operation (HIGH)
6541 6681 3041 3181 3041 4041 10 O O B 031
during normal operation (LOW)
6542 6682 3042 3182 3042 4042 10 O O B 032
during orientation (HIGH)
6543 6683 3043 3183 3043 4043 10 O O B 033
during orientation (LOW)
in servo mode/spindle
6544 6684 3044 3184 3044 4044 10 O O B 034
synchronous control mode
(HIGH)
in servo mode/spindle
6545 6685 3045 3185 3045 4045 10 O O B 035
(LOW)
6546 6686 3046 3186 3046 4046 30 in Cs contour control mode O O B 036
(HIGH)
6547 6687 3047 3187 3047 4047 30 in Cs contour control mode O O B 037
(LOW)
Integral gain of velocity loop
6548 6688 3048 3188 3048 4048 10 O O B 038
during normal operation (HIGH)
6549 6689 3049 3189 3049 4049 10 O O B 039
during normal operation (LOW)
6550 6690 3050 3190 3050 4050 10 O O B 040
during orientation (HIGH)
6551 6691 3051 3191 3051 4051 10 O O B 041
during orientation (LOW)
- 157 -

Integral gain of velocity loop in
servo mode/spindle
6552 6692 3052 3192 3052 4052 10 O O B 042
(HIGH)
servo mode/spindle
6553 6693 3053 3193 3053 4053 10 O O B 043
(LOW)
6554 6694 3054 3194 3054 4054 50 O O B 044
Cs contour control mode (HIGH)
6555 6695 3055 3195 3055 4055 50 O O B 045
Cs contour control mode (LOW)
6556 6696 3056 3196 3056 4056 100 Gear ratio (HIGH) O O B 046
6557 6697 3057 3197 3057 4057 100 Gear ratio (MEDIUM HIGH) O O B 047
6558 6698 3058 3198 3058 4058 100 Gear ratio (MEDIUM LOW) O O B 048
6559 6699 3059 3199 3059 4059 100 Gear ratio (LOW) O O B 049
Position gain during orientation
6560 6700 3060 3200 3060 4060 1000 O O B 050
(HIGH)
6561 6701 3061 3201 3061 4061 1000 O O B 051
(MEDIUM HIGH)
6562 6702 3062 3202 3062 4062 1000 O O B 052
(MEDIUM LOW)
6563 6703 3063 3203 3063 4063 1000 O O B 053
(LOW)
Rate of change in position gain
6564 6704 3064 3204 3064 4064 100 O O B 054
upon completion of orientation
Position gain in servo
6565 6705 3065 3205 3065 4065 1000 mode/spindle synchronous O O B 055
control mode (HIGH)
control mode (MEDIUM HIGH)
control mode (MEDIUM LOW)
control mode (LOW)
Position gain in Cs contour
6569 6709 3069 3209 3069 4069 3000 O O B 059
control mode (HIGH)
6570 6710 3070 3210 3070 4070 3000 O O B 060
control mode (MEDIUM HIGH)
6571 6711 3071 3211 3071 4071 3000 O O B 061
control mode (MEDIUM LOW)
6572 6712 3072 3212 3072 4072 3000 O O B 062
control mode (LOW)
6573 6713 3073 3213 3073 4073 0 Grid shift in servo mode O O B 063
Reference position return speed
6574 6714 3074 3214 3074 4074 0 in Cs contour control/servo O O B 064
mode
Detection level for orientation
6575 6715 3075 3215 3075 4075 10 O O B 065
completion signal
Motor speed limit value on
6576 6716 3076 3216 3076 4076 33 O O B 066
orientation
6577 6717 3077 3217 3077 4077 0 Orientation stop position shift O O B 067
6578 6718 3078 3218 3078 4078 200 068
6579 6719 3079 3219 3079 4079 0 069
Depends Regenerative power limit for
6580 6720 3080 3220 3080 4080 on the high-speed zone/regenerative O C 070
model power limit
Delay time until motor power is
6581 6721 3081 3221 3081 4081 20 O O B 071
cut off
Setting of
6582 6722 3082 3222 3082 4082 10 O O B 072
acceleration/deceleration time
Depends
Motor voltage during normal
6583 6723 3083 3223 3083 4083 on the O B 073
rotation
model
- 158 -

Depends
6584 6724 3084 3224 3084 4084 on the Motor voltage during orientation O O B 074
model
Depends Motor voltage in servo
6585 6725 3085 3225 3085 4085 on the mode/spindle synchronization O B 075
model control mode
Depends
Motor voltage in Cs contour
6586 6726 3086 3226 3086 4086 on the O O B 076
control mode
model
6587 6727 3087 3227 3087 4087 115 Overspeed level O O D 077
Level for detecting excess
6588 6728 3088 3228 3088 4088 75 velocity deviation when motor is O O D 078
restrained
Level for detecting excess
6589 6729 3089 3229 3089 4089 200 velocity deviation when motor O O D 079
rotates
6590 6730 3090 3230 3090 4090 90 Overload detection level O O D 080
6591 6731 3091 3231 3091 4091 100 during reference position return O O B 081
in servo mode
6592 6732 3092 3232 3092 4092 100 during reference position return O O B 082
in Cs contour control mode
Depends Value displayed on load meter
6593 6733 3093 3233 3093 4093 on the at maximum output (low-speed O C 083
model winding, FS15i,16i/16 only)
Disturbance torque
6594 6734 3094 3234 3094 4094 0 O O B 084
compensation constant
Adjusted output voltage of
6595 6735 3095 3235 3095 4095 0 O O B 085
speedometer
Adjusted output voltage of load
6596 6736 3096 3236 3096 4096 0 O O B 086
meter
6597 6737 3097 3237 3097 4097 0 Feedback gain of spindle speed O O B 087
Maximum speed of position
6598 6738 3098 3238 3098 4098 0 O O A 088
feedback signal detection
6599 6739 3099 3239 3099 4099 0 Motor activation delay O O B 089
Depends
Base speed of motor output
6600 6740 3100 3240 3100 4100 on the O C 090
specifications
model
Depends
Output limit for motor output
6601 6741 3101 3241 3101 4101 on the O C 091
specifications
model
Depends
Activating voltage saturation
6602 6742 3102 3242 3102 4102 on the O C 092
speed at no-load
model
Depends
6603 6743 3103 3243 3103 4103 on the Base speed limit ratio O C 093
model
Depends
6604 6744 3104 3244 3104 4104 on the Proportional gain of current loop O C 094
model
6605 6745 3105 3245 3105 4105 0 Reserved O C 095
Depends
6606 6746 3106 3246 3106 4106 on the Integral gain of current loop O C 096
model
6607 6747 3107 3247 3107 4107 0 Reserved O C 097
Depends
Velocity at which the current
6608 6748 3108 3248 3108 4108 on the O C 098
loop integral gain is zero
model
Depends Filter time constant for
6609 6749 3109 3249 3109 4109 on the processing saturation related to O C 099
model the voltage command
Depends
6610 6750 3110 3250 3110 4110 on the Current conversion constant O C 100
model
Depends
6611 6751 3111 3251 3111 4111 on the Secondary current factor O C 101
model
- 159 -

Criterion level for saturation
Depends
related to the voltage
6612 6752 3112 3252 3112 4112 on the O C 102
command/PWM command
model
clamp value
Depends
6613 6753 3113 3253 3113 4113 on the Slip constant O C 103
model
Slip compensation coefficient for
Depends
a high-speed zone/slip
6614 6754 3114 3254 3114 4114 on the O C 104
compensation coefficient at
model
deceleration
Depends
PWM command clamp value at
6615 6755 3115 3255 3115 4115 on the O C 105
deceleration
model
Depends
6616 6756 3116 3256 3116 4116 on the Motor leakage constant O C 106
model
Regular-time voltage
Depends
compensation coefficient for
6617 6757 3117 3257 3117 4117 on the O C 107
high-speed zone/regular-time
model
motor voltage coefficient
Acceleration-time voltage
Depends
6618 6758 3118 3258 3118 4118 on the O C 108
high-speed zone/acceleration-
model
time motor voltage coefficient
Depends
Deceleration-time activating
6619 6759 3119 3259 3119 4119 on the O C 109
current change time constant
model
Depends Rectangular-wave component
6620 6760 3120 3260 3120 4120 on the zero voltage/dead-zone O O C 110
model compensation data
Time constant for changing the
6621 6761 3121 3261 3121 4121 5 O B 111
torque
Time constant for velocity
6622 6762 3122 3262 3122 4122 0 O O B 112
detecting filter
Short-time overload detection
6623 6763 3123 3263 3123 4123 30 O O D 113
time
6624 6764 3124 3264 3124 4124 0 Reserved O C 114
6625 6765 3125 3265 3125 4125 0 Reserved 115
6626 6766 3126 3266 3126 4126 0 Reserved 116
Depends
Value displayed on load meter
6627 6767 3127 3267 3127 4127 on the O O C 117
at maximum output
model
Depends
Maximum torque curve
6628 6768 3128 3268 3128 4128 on the O C 118
compensation coefficient
model
Depends
Secondary current factor for
6629 6769 3129 3269 3129 4129 on the O C 119
rigid tapping
model
Depends Current loop proportional gain
6630 6770 3130 3270 3130 4130 on the speed coefficient/current phase O C 120
model delay compensation coefficient
Time constant for velocity
6631 6771 3131 3271 3131 4131 0 detecting filter (in Cs contour O O B 121
control mode)
Current conversion constant for
6632 6772 3132 3272 3132 4132 0 O C 122
V phase
Depends
6633 6773 3133 3273 3133 4133 on the Motor model code O O C 123
model
Depends
6634 6774 3134 3274 3134 4134 on the Motor overheat detect level O O C 124,125
model
Grid shift during Cs contour
6635 6775 3135 3275 3135 4135 0 O O B 126,127
control mode
Depends
Motor voltage during normal
6900 6940 3280 3500 3136 4136 on the O B 128
rotation
model
- 160 -

Depends Motor voltage in servo
6901 6941 3281 3501 3137 4137 on the mode/spindle synchronization O B 129
model control mode
Depends
Base speed of motor output
6902 6942 3282 3502 3138 4138 on the O C 130
specifications
model
Depends
Output limit for motor output
6903 6943 3283 3503 3139 4139 on the O C 131
specifications
model
Depends
Activating voltage saturation
6904 6944 3284 3504 3140 4140 on the O C 132
speed at no-load
model
Depends
6905 6945 3285 3505 3141 4141 on the Base speed limit ratio O C 133
model
Depends
6906 6946 3286 3506 3142 4142 on the Proportional gain of current loop O C 134
model
Depends
6907 6947 3287 3507 3143 4143 on the Integral gain of current loop O C 135
model
Depends
Velocity at which current loop
6908 6948 3288 3508 3144 4144 on the O C 136
integral gain is zero
model
Depends Filter time constant for
6909 6949 3289 3509 3145 4145 on the processing saturation related to O C 137
model the voltage command
Depends
6910 6950 3290 3510 3146 4146 on the Current conversion constant O C 138
model
Depends
6911 6951 3291 3511 3147 4147 on the Secondary current factor O C 139
model
Criterion level for saturation
Depends
related to the voltage
6912 6952 3292 3512 3148 4148 on the O C 140
command/PWM command
model
clamp value
Depends
6913 6953 3293 3513 3149 4149 on the Slip constant O C 141
model
Slip compensation coefficient for
Depends
a high-speed zone/slip
6914 6954 3294 3514 3150 4150 on the O C 142
compensation coefficient at
model
deceleration
Depends
PWM command clamp value at
6915 6955 3295 3515 3151 4151 on the O C 143
deceleration
model
Depends
6916 6956 3296 3516 3152 4152 on the Motor leakage constant O C 144
model
Regular-time voltage
Depends
6917 6957 3297 3517 3153 4153 on the O C 145
high-speed zone/regular-time
model
Acceleration-time voltage
Depends
6918 6958 3298 3518 3154 4154 on the O C 146
high-speed zone/acceleration-
model
time motor voltage coefficient
6919 6959 3299 3519 3155 4155 0 Reserved O C 147
Depends
6920 6960 3300 3520 3156 4156 on the Slip compensation factor O C 148
model
Time constant for changing the
6921 6961 3301 3521 3157 4157 5 O B 149
torque
Depends
Maximum torque curve
6922 6962 3302 3522 3158 4158 on the O C 150
model
Depends
Secondary current factor for
6923 6963 3303 3523 3159 4159 on the O C 151
rigid tapping
model
- 161 -

Hysteresis of speed detection
6924 6964 3304 3524 3160 4160 0 O O B 152
level
Depends Current loop proportional gain
6925 6965 3305 3525 3161 4161 on the speed coefficient/current phase O C 153
model delay compensation coefficient
6926 6966 3306 3526 3162 4162 0 during cutting feed in Cs contour O O B 154
control mode (HIGH)
6927 6967 3307 3527 3163 4163 0 during cutting feed in Cs contour O O B 155
control mode (LOW)
Current conversion constant for
6928 6968 3308 3528 3164 4164 0 O C 156
V phase
Deceleration-time activating
Depends
current change time
6929 6969 3309 3529 3165 4165 on the O C 157
constant/activating current
model
change time constant
Depends Regenerative power limit for
6930 6970 3310 3530 3166 4166 on the high-speed zone/regenerative O C 158
model power limit
6931 6971 3311 3531 3167 4167 0 159
Depends Current overload alarm
6932 6972 3312 3532 3168 4168 on the detection level (for low-speed O C 160
model characteristics)
Depends
Current overload alarm
6933 6973 3313 3533 3169 4169 on the O O C 161
detection time constant
model
Depends Current overload alarm
6934 6974 3314 3534 3170 4170 on the detection level (for high-speed O C 162
model characteristics)
Denominator of arbitrary gear
6935 6975 3315 3535 3171 4171 0 ratio between motor sensor and O O B 163
spindle (HIGH)
Numerator of arbitrary gear ratio
6936 6976 3316 3536 3172 4172 0 between motor sensor and O O B 164
spindle (HIGH)
Denominator of arbitrary gear
6937 6977 3317 3537 3173 4173 0 ratio between motor sensor and O O B 165
spindle (LOW)
Numerator of arbitrary gear ratio
6938 6978 3318 3538 3174 4174 0 between motor sensor and O O B 166
spindle (LOW)
6939 6979 3319 3539 3175 4175 0 Analog override zero level O O B 167
Time constant for spindle load

monitor magnetic flux
6211 6391 3391 3611 3247 4247 0 O B 229
compensation (high-speed
characteristics)
Spindle load monitor torque
6212 6392 3392 3612 3248 4248 0 constant (high-speed O B 230
characteristics)
Spindle load monitor observer
6213 6393 3393 3613 3249 4249 0 O O B 231
gain 1
Spindle load monitor observer
6214 6394 3394 3614 3250 4250 0 O O B 232
gain 2
Time constant for spindle load
monitor magnetic flux
6215 6395 3395 3615 3251 4251 0 O B 233
compensation (low-speed
characteristics)
Spindle load monitor torque

6245 6425 3425 3645 3281 4281 0 constant (low-speed O B 263
characteristics)
6276 6456 3456 3676 3312 4312 0 296

6277 6457 3457 3677 3313 4313 0 297
6278 6458 3458 3678 3314 4314 0 298
6279 6459 3459 3679 3315 4315 0 299
- 162 -

Motor deceleration time
6284 6464 3464 3684 3320 4320 0 O O B 304
constant (HIGH)
6285 6465 3465 3685 3321 4321 0 O O B 305
constant (MEDIUM HIGH)
6286 6466 3466 3686 3322 4322 0 O O B 306
constant (MEDIUM LOW)
6287 6467 3467 3687 3323 4323 0 O O B 307
constant (LOW)
Speed at which deceleration

6290 6470 3470 3690 3326 4326 0 O O B 310
time constant limit starts (HIGH)
Command multiplication for

6292 6472 3472 3692 3328 4328 0 spindle orientation by position O O B 312
coder
Speed at which deceleration

6294 6474 3474 3694 3330 4330 0 O O B 314
time constant limit starts (LOW)
Arbitrary number of velocity

6298 6478 3478 3698 3334 4334 0 O O A 318
detector pulses
Switching point used for an

6300 6480 3480 3700 3336 4336 0 O O B 320
constant used for spindle
synchronization control
6301 6481 3481 3701 3337 4337 0 321
6303 6483 3483 3703 3339 4339 0 Torque clamp level O O C 323
Bell-shaped
6304 6484 3484 3704 3340 4340 0 O O B 324
constant during spindle
synchronization
6305 6485 3485 3705 3341 4341 0 Abnormal torque detection level O O B 325
6308 6488 3488 3708 3344 4344 0 Advanced feed-forward factor O O B 328
Spindle motor velocity
6309 6489 3489 3709 3345 4345 0 O O B 329
command detection level
6310 6490 3490 3710 3346 4346 0 Incomplete integration factor O O B 330
6311 6491 3491 3711 3347 4347 0 331
Current detection offset

6315 6495 3495 3715 3351 4351 0 O O B 335
compensation
Motor sensor signal amplitude

- - 3719 3761 3355 4355 0 O O A 338
ratio compensation
Motor sensor signal phase
- - 3720 3762 3356 4356 0 O O A 339
difference compensation
Spindle sensor signal amplitude
- - 3721 3763 3357 4357 0 O O A 340
ratio compensation
Spindle sensor signal phase
- - 3722 3764 3358 4358 0 O O A 341
difference compensation
- - 3723 3765 3359 4359 0 342
- - 3724 3766 3360 4360 0 343
Arbitrary pulse count for the
- - 3725 3767 3361 4361 0 O O A 344
position detector
- - 3726 3768 3362 4362 0 Load meter compensation 1 O C 345
- - 3732 3774 3368 4368 0 351
- - 3733 3775 3369 4369 0 352
- - 3734 3776 3370 4370 0 353
- - 3735 3777 3371 4371 0 354
- - 3736 3778 3372 4372 0 355
- 163 -

Center frequency of the
- - - - 3391 4391 0 O O B 373
oscillation control filter
- - - - 3392 4392 0 Oscillation control filter range O O B 374
- - - - 3393 4393 0 375
- 164 -
B-65280EN/01 APPENDIX B.LIST OF SPINDLE PARAMETER NUMBERS
B LIST OF SPINDLE PARAMETER

NUMBERS
FS15i FS16i /16
High-speed Low-speed High-speed Low-speed
Contents
range range range range
3000 3000 4000 4000 Bit parameter
3001 3001 4001 4001 Bit parameter
3002 3002 4002 4002 Bit parameter
3003 3003 4003 4003 Bit parameter
3004 3004 4004 4004 Bit parameter
3005 3005 4005 4005 Bit parameter
3006 3006 4006 4006 Bit parameter
3007 3007 4007 4007 Bit parameter
3008 3008 4008 4008 Bit parameter
3009 3009 4009 4009 Bit parameter
3010 3010 4010 4010 Bit parameter
3011 3011 4011 4011 Bit parameter
3012 3012 4012 4012 Bit parameter
3013 3013 4013 4013 Bit parameter
3014 3014 4014 4014 Bit parameter
3015 3015 4015 4015 Bit parameter
3016 3016 4016 4016 Bit parameter
3017 3017 4017 4017 Bit parameter
3018 3018 4018 4018 Bit parameter
3019 3019 4019 4019 Bit parameter
3021 3021 4021 4021 Maximum speed in Cs contour control mode
3022 3022 4022 4022 Speed arrival detection level
3023 3023 4023 4023 Speed detection level
3024 3024 4024 4024 Speed zero detection level
3025 3025 4025 4025 Limited torque
3026 3026 4026 4026 Load detection level 1
3027 3027 4027 4027 Load detection level 2
3028 3028 4028 4028 Limited output pattern
3029 3029 4029 4029 Output limit
3030 3030 4030 4030 Soft start/stop time
3031 3031 4031 4031 Stop position in orientation by position coder
3032 3032 4032 4032 Acceleration/deceleration time constant during spindle synchronization
3033 3033 4033 4033 Spindle speed to be detected in synchronization
- 165 -
B.LIST OF SPINDLE PARAMETER NUMBERS APPENDIX B-65280EN/01
FS15i FS16i /16

Contents
3034 3034 4034 4034 Shift during synchronous control of spindle phase
3035 3035 4035 4035 Compensation data for spindle phase synchronization
3036 3036 4036 4036 Feed-forward factor
3037 3037 4037 4037 Feed-forward factor of velocity loop
3039 3039 4039 4039 Slip compensation factor
3040 3040 4040 4040 Proportional gain of velocity loop during normal operation (HIGH)
3041 3041 4041 4041 Proportional gain of velocity loop during normal operation (LOW)
3042 3042 4042 4042 Proportional gain of velocity loop during orientation (HIGH)
3043 3043 4043 4043 Proportional gain of velocity loop during orientation (LOW)
Proportional gain of velocity loop in servo mode/spindle synchronous control
3044 3044 4044 4044
mode (HIGH)
Proportional gain of velocity loop in servo mode/spindle synchronous control
3045 3045 4045 4045
mode (LOW)
3046 3046 4046 4046 Proportional gain of velocity loop in Cs contour control mode (HIGH)
3047 3047 4047 4047 Proportional gain of velocity loop in Cs contour control mode (LOW)
3048 3048 4048 4048 Integral gain of velocity loop during orientation (HIGH)
3049 3049 4049 4049 Integral gain of velocity loop during orientation (LOW)
3050 3050 4050 4050 Integral gain of velocity loop during normal operation (HIGH)
3051 3051 4051 4051 Integral gain of velocity loop during normal operation (LOW)
Integral gain of velocity loop in servo mode/spindle synchronous control mode
3052 3052 4052 4052
(HIGH)
Integral gain of velocity loop in servo mode/spindle synchronous control mode
3053 3053 4053 4053
(LOW)
3054 3054 4054 4054 Integral gain of velocity loop in Cs contour control mode (HIGH)
3055 3055 4055 4055 Integral gain of velocity loop in Cs contour control mode (LOW)
3056 3056 4056 4056 Gear ratio (HIGH)
3057 3057 4057 4057 Gear ratio (MEDIUM HIGH)
3058 3058 4058 4058 Gear ratio (MEDIUM LOW)
3059 3059 4059 4059 Gear ratio (LOW)
3060 3060 4060 4060 Position gain during orientation (HIGH)
3061 3061 4061 4061 Position gain during orientation (MEDIUM HIGH)
3062 3062 4062 4062 Position gain during orientation (MEDIUM LOW)
3063 3063 4063 4063 Position gain during orientation (LOW)
3064 3064 4064 4064 Rate of change in position gain upon completion of orientation
3065 3065 4065 4065 Position gain in servo mode/ spindle synchronous control mode (HIGH)
3066 3066 4066 4066 Position gain in servo mode/ spindle synchronous control mode (MEDIUM HIGH)
3067 3067 4067 4067 Position gain in servo mode/ spindle synchronous control mode (MEDIUM LOW)
3068 3068 4068 4068 Position gain in servo mode/ spindle synchronous control mode (LOW)
3069 3069 4069 4069 Position gain in Cs contour control mode (HIGH)
3070 3070 4070 4070 Position gain in Cs contour control mode (MEDIUM HIGH)
3071 3071 4071 4071 Position gain in Cs contour control mode (MEDIUM LOW)
- 166 -
FS15i FS16i /16

Contents
3072 3072 4072 4072 Position gain in Cs contour control mode (LOW)
3073 3073 4073 4073 Grid shift in servo mode
3074 3074 4074 4074 Reference position return speed in Cs contour control/servo mode
3075 3075 4075 4075 Detection level for orientation completion signal
3076 3076 4076 4076 Motor speed limit value on orientation
3077 3077 4077 4077 Orientation stop position shift
3078 3078 4078 4078 MS signal constant
3079 3079 4079 4079 MS signal gain adjustment
3080 3166 4080 4166 Regenerative power limit for high-speed zone/regenerative power limit
3081 3081 4081 4081 Delay time until motor power is cut off
3082 3082 4082 4082 Setting of acceleration/deceleration time
3083 3136 4083 4136 Motor voltage during normal rotation
3084 3084 4084 4084 Motor voltage during orientation
3085 3137 4085 4137 Motor voltage in servo mode/spindle synchronization control mode
3086 3086 4086 4086 Motor voltage in Cs contour control mode
3087 3087 4087 4087 Overspeed level
3088 3088 4088 4088 Level for detecting excess velocity deviation when motor is restrained
3089 3089 4089 4089 Level for detecting excess velocity deviation when motor rotates
3090 3090 4090 4090 Overload detection level
3091 3091 4091 4091 Rate of change in position gain during reference position return in servo mode
Rate of change in position gain during reference position return in Cs contour
3092 3092 4092 4092
control mode
- 3093 - 4093 Value displayed on load meter at maximum output
3094 3094 4094 4094 Disturbance torque compensation constant
3095 3095 4095 4095 Adjusted output voltage of speedometer
3096 3096 4096 4096 Adjusted output voltage of load meter
3097 3097 4097 4097 Feedback gain of spindle speed
3098 3098 4098 4098 Maximum speed of position feedback signal detection
3099 3099 4099 4099 Motor activation delay
3100 3138 4100 4138 Base speed of motor output specifications
3101 3139 4101 4139 Torque-limit for motor output specifications
3102 3140 4102 4140 Activating voltage saturation speed at no-load
3103 3141 4103 4141 Base speed limit ratio
3104 3142 4104 4142 Proportional gain of current loop
3106 3143 4106 4143 Integral gain of current loop
3108 3144 4108 4144 Velocity at which the current loop integral gain is zero
3110 3146 4110 4146 Current conversion constant
3111 3147 4111 4147 Secondary current factor
Criterion level for saturation related to the voltage command/PWM command
3112 3148 4112 4148
clamp value
3113 3149 4113 4149 Slip constant
- 167 -
B.LIST OF SPINDLE PARAMETER NUMBERS APPENDIX B-65280EN/01
FS15i FS16i /16

Contents
Slip compensation coefficient for a high-speed zone/slip compensation
3114 3150 4114 4150
coefficient at deceleration
3115 3151 4115 4151 PWM command clamp value at deceleration
3116 3152 4116 4152 Motor leakage constant
Regular-time voltage compensation coefficient for high-speed zone/regular-time
3117 3153 4117 4153
Acceleration-time voltage compensation coefficient for high-speed
3118 3154 4118 4154
zone/acceleration-time motor voltage coefficient
Deceleration-time activating current change time constant/activating current
3119 3165 4119 4165
change time constant
3120 3120 4120 4120 Rectangular-wave component zero voltage/dead-zone compensation data
3121 3157 4121 4157 Time constant for changing the torque
3122 3122 4122 4122 Time constant for velocity detecting filter
3123 3123 4123 4123 Short-time overload detection time
3127 3127 4127 4127 Value displayed on load meter at maximum output
3128 3158 4128 4158 Maximum torque curve compensation coefficient
3129 3159 4129 4159 Secondary current factor for rigid tapping
Current loop proportional gain speed coefficient/current phase delay
3130 3161 4130 4161
3131 3131 4131 4131 Time constant for velocity detecting filter (in Cs contour control mode)
3132 3164 4132 4164 Current conversion constant for V phase
3133 3133 4133 4133 Motor model code
3134 3134 4134 4134 Motor overheat detect level
3135 3135 4135 4135 Grid shift in Cs contour control mode
3160 3160 4160 4160 Hysteresis of speed detection level

Integral gain of velocity loop during cutting feed in Cs contour control mode
3162 3162 4162 4162
(HIGH)
Integral gain of velocity loop during cutting feed in Cs contour control mode
3163 3163 4163 4163
(LOW)
3169 3169 4169 4169 Current overload alarm detection time constant
3170 3168 4170 4168 Current overload alarm detection level
3171 3171 4171 4171 Denominator of arbitrary gear ratio between motor sensor and spindle (HIGH)
3172 3172 4172 4172 Numerator of arbitrary gear ratio between motor sensor and spindle (HIGH)
3173 3173 4173 4173 Denominator of arbitrary gear ratio between motor sensor and spindle (LOW)
3174 3174 4174 4174 Numerator of arbitrary gear ratio between motor sensor and spindle (LOW)
3175 3175 4175 4175 Analog override zero level
3247 3251 4247 4251 Time constant for spindle load monitor magnetic flux compensation
3248 3281 4248 4281 Spindle load monitor torque constant
- 168 -
FS15i FS16i /16

Contents
3320 3320 4320 4320 Motor deceleration time constant (HIGH)

3321 3321 4321 4321 Motor deceleration time constant (MEDIUM HIGH)
3322 3322 4322 4322 Motor deceleration time constant (MEDIUM LOW)
3323 3323 4323 4323 Motor deceleration time constant (LOW)
3326 3326 4326 4326 Speed at which deceleration time constant limit starts (HIGH)
3328 3328 4328 4328 Command multiplication for spindle orientation by position coder
3330 3330 4330 4330 Speed at which deceleration time constant limit starts (LOW)
3334 3334 4334 4334 Arbitrary number of velocity detector pulses

Switching point for acceleration/deceleration time constant during spindle
3336 3336 4336 4336
synchronization
3339 3339 4339 4339 Torque clamp level

Bell-shaped acceleration/deceleration time constant during spindle
3340 3340 4340 4340
synchronization
3341 3341 4341 4341 Abnormal torque detection level
3344 3344 4344 4344 Advanced feed-forward factor
3345 3345 4345 4345 Spindle motor velocity command detection level
3346 3346 4346 4346 Incomplete integration factor
3351 3351 4351 4351 Current detection offset compensation
3355 3355 4355 4355 Motor sensor signal amplitude ratio compensation
3356 3356 4356 4356 Motor sensor signal phase difference compensation
3357 3357 4357 4357 Spindle sensor signal amplitude ratio compensation
3358 3358 4358 4358 Spindle sensor signal phase difference compensation
3361 3361 4361 4361 Arbitrary pulse count for the position detector
3362 3365 4362 4365 Load meter compensation 1
3391 3391 4391 4391 Center frequency of the oscillation control filter
3392 3392 4392 4392 Oscillation control filter range
- 169 -
C.TABLE OF SIGNALS RELATED TO SPINDLE CONTROL APPENDIX B-65280EN/01
C TABLE OF SIGNALS RELATED TO

SPINDLE CONTROL
- 170 -
B-65280EN/01 APPENDIX C.TABLE OF SIGNALS RELATED TO SPINDLE CONTROL
C.1 INPUT SIGNALS (PMC TO CNC) FOR FIRST SPINDLE

CONTROL
0 0TT 15 15i 16i/16(*2) 7 6 5 4 3 2 1 0
HEAD2
G229 G1429 G227 G227 G070 MRDYA ORCMA SFRA SRVA CTH1A CTH2A TLMHA TLMLA
G230 G1430 G226 G226 G071 RCHA RSLA INTGA SOCNA MCFNA SPSLA *ESPA ARSTA
G231 G1431 G229 G229 G072 RCHHGA MFNHGA INCMDA OVRA DEFMDA NRROA ROTAA INDXA
G232 G1432 G228 G228 G073 DSCNA SORSLA MPOFA SLVA MORCMA
G124 G1324 G032 R08I R07I R06I R05I R04I R03I R02I R01I
G125 G1325 G033 SIND SSIN SGN R12I R11I R10I R09I
G024 G025 RISGN RI12 RI11 RI10 RI09 RI08
G025 G024 RI07 RI06 RI05 RI04 RI03 RI02 RI01 RI00
G110 G1310 G231 G230 G078 SHA07 SHA06 SHA05 SHA04 SHA03 SHA02 SHA01 SHA00
G111 G1311 G230 G231 G079 SHA11 SHA10 SHA09 SHA08
G103 G1303 SPC SPB SPA
G030 SOV7 SOV6 SOV5 SOV4 SOV3 SOV2 SOV1 SOV0
G120 G1320 *SSTP SOR SAR FIN
G005 G005 FIN
G029 *SSTP SOR SAR
G004 FIN
G123
CON(M) SPSTP *SCPF *SUCPF GR2 GR1 COFF(T)
(*1) G1323
G118
GR2 GR1
(*1) G1318
G027 CON(T/M)
G67,71.. G67,71.. SCNTR1,2..
G146 G038 SSPHS SPSYC
G111 SSPHS SPSYC

G123
(*3) RGTP
G135
(*3) G061 RGTAP
G026 G026 GS4 GS2 GS1 *SECLP *SEUCL SPSTP

G028 SPSTP *SCPF *SUCPF GR2 GR1
G104 ESRSYC
G145 G1345 GR31 GR21 *SSTP3 *SSTP2 *SSTP1 SWS3 SWS2 SWS1
G027 *SSTP3 *SSTP2 *SSTP1 SWS3 SWS2 SWS1
G029 GR31 GR21
G146 G1346 G028 PS2SLC
(*1) Depends on bit 5 (ADDCF) of parameter No. 0031.

(*2) For information on the DI/DO addresses on the Head 2 side of
the Series 16-TT, refer to the Series 16/18 connection manual
(B-61803E/03 or later).
(*3) Depends on bit 4 (SRGTP) of parameter No. 0019.
- 171 -
C.2 INPUT SIGNALS (PMC TO CNC) FOR SECOND SPINDLE

CONTROL
0 0TT 15 15i 16i/16 7 6 5 4 3 2 1 0
HEAD2
G233 G1433 G235 G074 MRDYB ORCMB SFRB SRVB CHT1B CTH2B TLMHB TLMLB
G234 G1434 G234 G075 RCHB RSLB INTGB SOCNB MCFNB SPSLB *ESPB ARSTB
G235 G1435 G237 G076 RCHHGB MFNHGB INCMDB OVRB DEFMDB NRROB ROTAB INDXB
G236 G1436 G236 G077 DSCNB SORSLB MPOFB SLVB MORCMB
G112 G1312 G239 G080 SHB07 SHB06 SHB05 SHB04 SHB03 SHB02 SHB01 SHB00
G113 G1313 G238 G081 SHB11 SHB10 SHB09 SHB08
G106 G1306 M2R08I M2R07I M2R06I M2R05I M2R04I M2U03I M2R02I M2R01I
G107 G1307 M2SIND M2SSIN M2SGN M2R12I M2R11I M2R10I M2R09I
G108 G1308 M3R08I M3R07I M3R06I M3R05I M3R04I M3R03I M3R02I M3R01I
G109 G1309 M3SIND M3SSIN M3SGN M3R12I M3R11I M3R10I M3R09I
G034 R08I2 R07I2 R06I2 R05I2 R04I2 R03I2 R02I2 R01I2
G035 SIND2 SSIN2 SGN2 R12I2 R11I2 R10I2 R09I2
G036 R08I3 R07I3 R06I3 R05I3 R04I3 R03I3 R02I3 R01I3
G037 SIND3 SSIN3 SGN3 R12I3 R11I3 R10I3 R09I3
G232 G233 RISGNB RIB12 RIB11 RIB10 RIB09 RIB08
G233 G232 RIB07 RIB06 RIB05 RIB04 RIB03 RIB02 RIB01 RIB00
- 172 -
B-65280EN/01 APPENDIX C.TABLE OF SIGNALS RELATED TO SPINDLE CONTROL
C.3 OUTPUT SIGNALS (CNC TO CNC) FOR FIRST SPINDLE

CONTROL
0 0TT 15 15i 16i/16 7 6 5 4 3 2 1 0
HEAD2
F281 F1481 F229 F045 ORARA TLMA LDT2A LDT1A SARA SDTA SSTA ALMA
F282 F1482 F228 F046 MOAR2A MOAR1A POAR2A SLVSA RCFNA RCHPA CFINA CHPA
F283 F1483 F231 F047 EX0FA SORENA MSOVRA INCSTA PC1DTA
F172 F1372 F036 R08O R07O R06O R05O R04O R03O R02O R01O
F173 F1373 F037 R12O R11O R10O R09O

F010
RO15 RO14 RO13 RO12 RO11 RO10 RO09 RO08
(F006)
F011
RO07 RO06 RO05 RO04 RO03 RO02 RO01 RO00
(F007)
F150 F1350 F007 SF MF
F008 F008 SF MF
F149 F1349 F001 ENB
F164 F1364 F038 ENB3 ENB2 SCLP SUCLP
F042 F042 SPCO SPBO SPAO SPAL SSLP SUCLP
F154 F1354 F035 SPAL
F152 F1352 F034 GR30 GR20 GR10
F001 F001 CSS
F002 CSS
F178 F044 SYCAL FSPPH FSPSY FSCSL
F67,71.. F67,71.. MCNTR1,2..
F111 MSPPHS MSPSYC SPSYAL
F040 F040 RTAP
F020 F023 F025 S31 S30 S29 S28 S27 S26 S25 S24
F021 F022 F024 S23 S22 S21 S20 S19 S18 S17 S16
F022 F021 F023 S15 S14 S13 S12 S11 S10 S09 S08
F023 F020 F022 S07 S06 S05 S04 S03 S02 S01 S00
F012 F013 F041 AR15 AR14 AR13 AR12 AR11 AR10 AR09 AR08
F013 F012 F040 AR07 AR06 AR05 AR04 AR03 AR02 AR01 AR00
F232 F233 SLDM15 SLDM14 SLDM13 SLDM12 SLDM11 SLDM10 SLDM09 SLDM08
F233 F232 SLDM07 SLDM06 SLDM05 SLDM04 SLDM03 SLDM02 SLDM01 SLDM00
F234 F235 SSPD15 SSPD14 SSPD13 SSPD12 SSPD11 SSPD10 SSPD09 SSPD08
F235 F234 SSPD07 SSPD06 SSPD05 SSPD04 SSPD03 SSPD02 SSPD01 SSPD00
F236 F236 SSPAA7 SSPAA6 SSPAA5 SSPAA4 SSPAA3 SSPAA2 SSPAA1 SSPAA0
(*) The codes for Series 15-TT are enclosed in parentheses.
- 173 -
C.4 OUTPUT SIGNALS (CNC TO CNC) FOR SECOND SPINDLE

CONTROL
0 0TT 15 15i 16i/16 7 6 5 4 3 2 1 0
HEAD2
F285 F1485 F245 F245 F049 ORARB TLMB LDT2B LDT1B SARB SDTB SSTB ALMB
F286 F1486 F244 F244 F050 MOAR2B MOAR1B POAR2B SLVSB RCFNB RCHPB CFINB CHPB
F287 F1487 F247 F247 F051 EX0FB SORENB MSOVRB INCSTB PC1DTB
- 174 -
B-65280EN/01 INDEX
INDEX
Parameter Switching Between High-speed Range and
<A>
Low-speed Range ................................................... 103
Additional Information on Parameters............................ 87
Parameters for the αi Series (Serial) Spindle System ....... 3
Adjusting the Orientation Stop Position Shift Parameter 35
Parameters Related to Detectors ....................................... 5
ADJUSTMENT ................................................................ 1
Parameters Related to Normal Operation Mode ............. 16
Adjustment Procedure .............................................. 47, 70
Parameters Related to Spindle Speed Commands............. 4
Alarm.............................................................................. 75
PARAMETERS RELATED TO START-UP ................... 3
Automatic Spindle Parameter Initialization...................... 3
POSITION CODER METHOD SPINDLE
<C> ORIENTATION ....................................................... 25
Calculating the Orientation Time.................................... 36 Procedure for Setting Parameters.................................... 38
Calculating the Position Gain for Orientation ................ 34
<R>
Cs CONTOURING CONTROL ..................................... 77
Related DI/DO Signals ................................. 26, 39, 54, 99
<D> Related I/O Signals ................................................... 78, 89
Details of Related Parameters......... 28, 41, 58, 81, 91, 101 Related Parameters ......................... 27, 40, 56, 79, 90, 100
Diagnosis ............................................................ 74, 87, 98 RIGID TAPPING ........................................................... 53
<E> <S>
EXPLANATION OF PARAMETERS ......................... 106 Specifying a Shift Amount for Spindle Phase
Synchronization Control........................................... 98
<F>
SPEED RANGE SWITCHING CONTROL................... 99
FUNCTION EXPLANATION ....................................... 24
SPINDLE PARAMETER TABLE ............................... 153
<H> SPINDLE SYNCHRONIZATION CONTROL.............. 88
HIGH-SPEED ORIENTATION ..................................... 38 START-UP PROCEDURE............................................... 2
Start-up Procedure .................................. 25, 53, 77, 88, 99
<I>
Status Error Indication Function..................................... 22
INPUT SIGNALS (PMC TO CNC) FOR FIRST SPINDLE
CONTROL ............................................................. 171 <T>
INPUT SIGNALS (PMC TO CNC) FOR SECOND TABLE OF SIGNALS RELATED TO SPINDLE
SPINDLE CONTROL............................................ 172 CONTROL ............................................................. 170
Internal Spindle Data Related to High-Speed Orientation46
<W>
<L> When Overshoot or Hunting Occurs............................... 20
LIST OF SPINDLE PARAMETER NUMBERS ......... 165 When the Cutting Capability is Degraded ...................... 21
When the Motor Does Not Rotate .................................. 18
<N>
When the Motor Does Not Rotate at the Commanded
Number of Error Pulses in Spindle Synchronization ...... 97
Speed ........................................................................ 19
<O> When the Motor Vibrates and Generates Noise while
OUTPUT SIGNALS (CNC TO CNC) FOR FIRST Rotating .................................................................... 20
SPINDLE CONTROL............................................ 173 When Time Required for Acceleration/Deceleration
OUTPUT SIGNALS (CNC TO CNC) FOR SECOND Increases ................................................................... 21
SPINDLE CONTROL............................................ 174
<P>
PARAMETER ADJUSTMENT ..................................... 18
i-1
Revision Record
FANUC AC SPINDLE MOTOR αi series PARAMETER MANUAL (B-65280EN)
01 Jun., 2001
Edition Date Contents Edition Date Contents

FANUC LTD
Printed in Japan

Parameter Manual: Fanuc

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FANUC AC SPINDLE MOTOR @* series

DEFINITION OF WARNING, CAUTION, AND NOTE

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

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

2.3.1 Start-up Procedure ................................................................................................. 53

1.1 START-UP PROCEDURE

A. Check the spindle-related specifications.

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

C. Prepare and check the PMC ladder program.

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

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

G. Set the parameters related to the spindle speed commands

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

J. Check the operation in normal operation mode.

K. Check the operation of each function.

1.2 PARAMETERS RELATED TO START-UP

1.2.1 Parameters for the αi Series (Serial) Spindle System

1.2.2 Automatic Spindle Parameter Initialization

(1) Parameter list

(2) Procedure for automatic spindle parameter initialization

<2> Set the relevant parameter to 1 to enable automatic spindle

1.2.3 Parameters Related to Spindle Speed Commands

1.2.4 Parameters Related to Detectors

(1) List of parameters for detectors

(2) Detail of parameter for detector

ROTA1 Indicates the relationship between the rotation directions of spindle

SSDIRC Indicates the mounting direction of spindle sensor.

SSTYP3 to 0 Spindle sensor type

SSTYP3 SSTYP2 SSTYP1 SSTYP0 Spindle sensor type

Gear teeth number of

EXTRF, RFTYPE External one-rotation signal setting

External one-rotation signal

PCLS Determines feedback signal disconnection detection.

PCALCH Determines whether to use alarms related to position feedback signals

MSTYP2, MSTYP1, MSTYP0 Motor sensor type

MSTYP2 MSTYP1 MSTYP0 Motor sensor type

VDT1 to VDT3 Gear teeth number setting of the motor sensor

VDT3 VDT2 VDT1 Gear teeth number of the

Motor models and corresponding Mi and MZi sensors

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

RFCHK2 Determines whether to detect the alarm related to threading position

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

(3) Details of parameters for detectors

(a) When the α position coder is used

[Sample system configuration]

Parameter Settings Description

(b) When the α position coder S is used

[Sample system configuration]

Parameter Settings Description

(c) When the MZi or BZi sensor is used

[Sample system configuration 1]

[Sample system configuration 2]

[Sample system configuration 3]

Directly connected or connected with a gear or timing belt

Parameter Settings Description