Additional Information

ADDITIONAL INFORMATION
Revision of αi series Spindle software

(9D5A/A, 9D53/O, 9D70/O, 9D80/K)
1. Type of applied documents

Name FANUC AC SPINDLE MOTOR αi series,
FANUC AC SPINDLE MOTOR βi series,
FANUC BUILT-IN SPINDLE MOTOR Bi series
PARAMETER MANUAL
Spec. No./Ver. B-65280EN/07
2. Summary of Change
New, Add Applicable
Group Name / Outline
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Another
Revision of spindle software 9D5A/A,9D53/O, 9D70/O,9D80/K Add 2008.06
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(9D5A/A, 9D53/O, 9D70/O, 9D80/K)
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01 08.06.25 Tsutsumi B-65280EN/07-01
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Ed. Date Design. 1/6
FANUC LTD
Revision of αi series Spindle software (9D5A/A, 9D53/O 9D70/O, 9D80/K)
1. General
αi series Spindle software was revised as follows.
2. Software series, edition and applied spindle amplifier

Software Software Spindle amplifier
Notes
drawing No. edition specification
A06B-6111-Hxxx#H550 16i/18i/21i,
A06B-6112-Hxxx#H550
0i-B/C, 15i, PMi-D
9D5A A06B-6121-Hxxx#H550
A06B-6111-H550 A06B-6122-Hxxx#H550 For induction spindle motor
edition A(01)
A06B-6134-Hxxx#A
0i-B/C, For βiSVSP
A06B-6134-Hxxx#D
(Induction spindle motor)
A06B-6111-Hxxx#H553 16i/18i/21i,
9D53 A06B-6112-Hxxx#H553
A06B-6111-H553 0i-B/C, 15i, PMi-D
edition O(15) A06B-6121-Hxxx#H553
A06B-6122-Hxxx#H553 For synchronous spindle motor
A06B-6111-Hxxx#H570
9D70 A06B-6112-Hxxx#H570 30i/31i/32i
A06B-6111-H570
edition O(15) A06B-6121-Hxxx#H570 For induction/ synchronous spindle motor
A06B-6122-Hxxx#H570
A06B-6141-Hxxx#H580 30i/31i/32i，
A06B-6142-Hxxx#H580 16i/18i/21i，
9D80 A06B-6151-Hxxx#H580 0i-B/C, 0i-D ,15i , PMi-D
A06B-6141-H580 A06B-6152-Hxxx#H580
edition K(11) For induction/ synchronous spindle motor
0i-D, For βiSVSP
A06B-6164-Hxxx#H580
(Induction spindle motor)
Note: 9D5A series is a succeeding series to 9D50 series. 9D50/Y is revised to 9D5A/A.
3. Contents of modification
Contents of modification 9D5A/A 9D53/O 9D70/O 9D80/K

(1) Magnetic Flux Boost Function is added.
Please refer to technical report (B-65280EN/07-02) ○ - ○ ○
(2) The common parameters for rigid tap mode and
spindle synchronous control mode is improved to be
set for each operation mode. - - ○ ○
Please refer to technical report (B-65280EN/07-03)
(3) The setting of motor voltage control characteristic is
improved to be set for each operation mode.
(Please refer to item 4.)
- - ○ ○
(4) Optimum Orientation Function is improved.
(Please refer to item 5.) ○ ○ ○ ○
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4. The setting of motor voltage control characteristic
(1) Over view
If spindle motor runs over the base speed in Cs contouring mode, rigid tapping mode or spindle
synchronous control mode, the setting of motor voltage control characteristic (No.4016#4) is set
to 1 and the motor voltage setting is reduced. The parameter (No.4016#4) is valid for all three
operation modes.
So the setting of motor voltage control characteristic is improved to be set each operation
mode.
(2) Parameter
15i 16i,0i-B,C 30i,0i-D #7 #6 #5 #4 #3 #2 #1 #0
- - 4540 EXPTSY EXPTRG EXPTCS
EXPTCS (#0) The setting of motor voltage control characteristic for Cs contouring mode
Set this bit to 1 when the motor voltage for Cs contouring control (No.4086)
is set to less than 100.
This parameter is valid when No.4016#4=0.
EXPTRG (#1) The setting of motor voltage control characteristic for rigid tapping mode
Set this bit to 1 when the motor voltage for rigid tapping control (No.4085:
high-speed characteristic, No.4137: low-speed characteristic) is set to less
than 100.
EXPTSY (#3) The setting of motor voltage control characteristic for spindle synchronous
control mode
Set this bit to 1 when the motor voltage for spindle synchronous control
(No.4085: high-speed characteristic, No.4137: low-speed characteristic *1) is
set to less than 100.
NOTE
*1 If parameter of motor voltage is set for each mode(rigid tapping mode or spindle synchronous control
mode), the motor voltage parameters are No.4558(high-speed characteristic) and No.4559(low-speed
characteristic) for spindle synchronous control mode.
*2 In case of FS30i Series, the parameter No.4540 is applicable with the following CNC software series and
editions.
FS30i/300i/300is-A G002 / G012 / G022 series : 24.0 editions or later
G00B / G01B / G02B series : 44.0 editions or later
G003 / G013 / G023 / G033 series : 07.0 editions or later
G00C / G01C / G02C / G03C series : 27.0 editions or later
FS31i/310i/310is-A5 G121 / G131 series : 24.0 editions or later
G12B / G13B series : 44.0 editions or later
G123 / G133 series : 07.0 editions or later
G12C / G13C series : 27.0 editions or later
FS31i/310i/310is-A G101 / G111 series : 24.0 editions or later
FS32i/320i/320is-A G201 series : 24.0 editions or later,
G203 series : 07.0 editions or later
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01 08.06.25 Tsutsumi B-65280EN/07-01
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The improvement of Optimum Orientation Function
(1) Over view

Three spindle parameters (No4019#6, No.4590, No.4591) are added for Optimum Orientation.
For details of Optimum Orientation Function, refer to spindle parameter manual.
No. Description Initial setting

4003#0 Selecting a spindle orientation type 0
4003#3,#2 Spindle rotation direction at orientation Select a rotation direction.
Specify an appropriate value depending
4006#1 Unit of gear ratio setting
on the system configuration.
Short-cut function when spindle orientation from Specify an appropriate value according
4017#7
stopped state is specified to the use of the machine.
4018#6,3 Type of position coder method orientation 0, 1
4018#4,5 Setting of velocity feedforward 1, 1
Setting of the compensation of spindle acceleration
* 4019#6
command
1
4031 Spindle orientation stop position Specify a stop position.

4038 Spindle orientation speed upper limit 0
4042 to 4043 Velocity proportional gain on orientation 10
4050 to 4051 Velocity integral gain on orientation 10
Specify an appropriate value depending
4056 to 4059 Gear ratio
on the system configuration.
4060 to 4063 Position gain on orientation 3000
4064 Percentage limit to an acceleration during deceleration 100
Specify an appropriate value according
4075 Orientation completion signal detection level
to the use of the machine.
4077 Orientation stop position shift value Specify a stop position.
4084 Motor voltage on orientation 100
Denominator of the motor sensor-to-spindle arbitrary Specify an appropriate value depending
4171,4173
gear ratio on the system configuration.
Numerator of the motor sensor-to-spindle arbitrary gear Specify an appropriate value depending
4172,4174
ratio on the system configuration.
4320 to 4323 Acceleration during motor deceleration Tune according to actual measurements.
4324 One-rotation signal detection speed 0
Limit ratio for spindle acceleration command /
4326,4327 0
Time constant for overshoot compensation
Specify an appropriate value according
4328 Command multiplier for orientation
to the use of the machine.
4370 Filter time constant for spindle accerelation detection 0
4590,4591 Spindle orientation speed limit ratio 1/
* *1 Spindle orientation speed limit ratio 2
0
*: Newly added.
NOTE
*1 In case of FS30i Series and FS 0i-D, spindle parameters (No.4590, No.4591) are available.
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(2) Parameter
15i 16i,0i-B/C 30i,0i-D #7 #6 #5 #4 #3 #2 #1 #0

3019 4019 4019 ORACMP
ORACMP Whether to enable the compensation of the spindle acceralation for

Optimum Orientation.
0: Enabled
1: Disabled
This parameter is for the compensation of the spindle acceleration
command when the orientation starts below the upper limit of orientation
speed.
Usually, set this bit to “1”.
15i 16i,0i-B/C 30i,0i-D
- - 4590[L] Optimum orientation: spindle orientation speed limit ratio1(HIGH) (CTH1A=0)

- - 4590[H] Optimum orientation: spindle orientation speed limit ratio2(HIGH) (CTH1A=0)
- - 4591[L] Optimum orientation: spindle orientation speed limit ratio1(LOW) (CTH1A=1)
- - 4591[H] Optimum orientation: spindle orientation speed limit ratio2(LOW) (CTH1A=1)
Unit of data : 1%
Valid data range: 0 to 100
Standard setting value: 0
This data is used to set an orientation speed according to upper limit of
orientation speed(No.4038). Set to “0” because it is not usually necessary to
adjust this parameter.
<REFERENCE> There is a possibility to shorten the orietation time by adjusting this

parameter when the orientation starts near upper limit of orientation
speed(No.4038).
Lower limit of orientation speed(ORSPDL) is calculated according to the
following equation with spindle orientation limit ratio 1(ORSCF1).
100 − ORSCF1
ORSPDL = × ORSPDU
100
Orientation speed (ORSPD) is calculated according to the following
equation.
Spindle speed when the orientation command is on; ORSINI
Upper limit of orientation speed(No.4038): ORSPDU
Lower limit of orientation speed: ORSPDL
Orientation speed limit ratio2 ORSCF2
ORSCF2 100−ORSCF2
ORSPD = × ORSINI＋ × ORSPDL
100 100
(ORSPD is clamped by ORSPDU and ORSPDL)
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NOTE
In case of FS30i Series, the parameter No.4590,4591 are applicable with the following CNC software
series and editions.
FS30i/300i/300is-A G002 / G012 / G022 series : 24.0 editions or later
G00B / G01B / G02B series : 44.0 editions or later
G003 / G013 / G023 / G033 series : 07.0 editions or later
G00C / G01C / G02C / G03C series : 27.0 editions or later
FS31i/310i/310is-A5 G121 / G131 series : 24.0 editions or later
G12B / G13B series : 44.0 editions or later
G12C / G13C series : 27.0 editions or later
FS31i/310i/310is-A G101 / G111 series : 24.0 editions or later
FS32i/320i/320is-A G201 series : 24.0 editions or later,
G203 series : 07.0 editions or later
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Magnetic Flux Boost Function for Spindle Motor Description
1．Type of applied documents

FANUC AC SPINDLE MOTOR αi series,
Name
PARAMETER MANUAL
Spec. No./Ver. B–65280EN/07
2．Summary of Change
New,Add Applicable
Correct,Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Another Magnetic Flux Boost Function Add 2008.06
TITLE
Magnetic Flux Boost

Function Description
DRAW. No. CUST.
01 08.06.24 T.Tsutsumi Newly B-65280EN/07-02
SHEET
Ed. Date Design. FANUC LTD 1/12
Spindle amplifier αi series
Magnetic Flux Boost Function Description
1. General .............................................................................................................................................. 3
1.1. Overview ..................................................................................................................................... 3
1.2. Applicable software ..................................................................................................................... 3
1.3. Remarks ..................................................................................................................................... 3
2. Explanation of operation .................................................................................................................... 4
3. Examples of application ..................................................................................................................... 5
4. Parameters ........................................................................................................................................ 6
5. Adjustment procedure of parameters ................................................................................................. 7
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1. General
1.1. Overview
This specification describes Magnetic Flux Boost Function which shortens the time required to
change rigid tapping mode or Cs contouring mode and is able to start the position control quickly.
1.2. Applicable software

Spindle software
Series Edition Applicable CNC
9D80 K(11) edition or later FS30i, FS16i, FS0i-B/C, FS0i-D, FS15i
1.3. Remarks
1.This function is not available for synchronous spindle motors.

2.This function is not available for torque tandem control function(when tandem mode signal is on),
and twin drive control function.
3.This function is not available for differential speed rigid tapping (slave spindle) .
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2. Explanation of operation
In induction spindle motors, the excitation current is flowed to generate magnetic flux to generate
torque. But the excitation current is not always rated value. If low load, the excitation current is
controlled to under rated value to reduce the motor heatgeneration.
It takes a certain time determined by the motor circuit constants for magnetic flux to rise up from
weakened value to rated value. So spindle parameter No.4099 (Delay time for stable motor
excitation) is prepared to wait for changing from the velocity control mode to rigid tapping mode or
Cs contouring mode which requires the high response of torque.
The Magnetic Flux Boost Function shortens the waiting time by commanding the over rated
excitation current when changing to rigid tapping mode or Cs contouring mode, and is able to start
the position control quickly.
Without Magnetic Flux Boost Function With Magnetic Flux Boost Function
Excitaiton current
command
Magnetic flux
time
Shortening the rising time of magnetic flux
Example) With αiI8L/15000, the Magnetic Flux Boost Function shortens the rising time of magnetic
flux from about 300ms to about 100ms (33%).
(The effect depends on the spindle motor model.)
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3. Examples of application
Rigid tapping
1
Forward/reverse rotation command (SFR/SRV)
1
Rigid tapping mode
Shortening the rising time

of magnetic flux
Magnetic flux
ON
Position loop
Move command
Spindle speed
With Magnetic Flux Boost Function

Without Magnetic Flux Boost Function
Cs contouring
1 Forward/reverse rotation command
(SFR/SRV)
1
Cs axis origin setup status signal
(CSPEN)
1
Spindle contour control change signal
(CON)
Cs axis coordinate setup request signal

0 (CSFI)
1
Spindle contour control change completion signal
(FSCSL)
Shortening the rising time

of magnetic flux Magnetic Flux
ON
Position loop
1
Reference position establishment signal
(ZRFx)
Move command
Cs axis speed
With Magnetic Flux Boost Function

Without Magnetic Flux Boost Function
Note
*1 The Magnetic Flux Boost Function is enabled if spindle speed is zero(SSTA=1) and
velocity command is zero when changing to rigid tap mode or Cs contouring mode.
*2 The Magnetic Flux Boost Function is not enabled if reference positon return is
commanded immediately after changing to Cs contouring mode. So, this function is
effective with using Cs axis coordinate setup function.
(As for Cs axis coordinate setup function, refer to the Connection manual(Function) of
relevant CNC)
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4. Parameters
15i 16i,0i-B/C 30i,0i-D #7 #6 #5 #4 #3 #2 #1 #0

Main 3353 4353 4353 FBTCSC
Sub 3374 4374 4374 FBTCSC
FBSTCS Whether to enable Magenetic Flux Boost Function

0： Disable Magenetic Flux Boost Function
1： Enable Magenetic Flux Boost Function
NOTE
・ In case of the sub spindle in spindle switching control, this function is
available for rigid tap mode
15i 16i,0i-B/C 30i,0i-D
Magnetic flux boost completion level (high speed characteristics)/

Main 3124 4124 4124
Magnetic flux boost constant (high speed characteristics)
Magnetic flux boost completion level (low speed characteristics)/
Main 3155 4155 4155
Magnetic flux boost constant (low speed characteristics)
Magnetic flux boost completion level (high speed characteristics)/
Sub 3332 4332 4332
Magnetic flux boost constant (high speed characteristics)
Magnetic flux boost completion level (low speed characteristics)/
Sub 3333 4333 4333
Magnetic flux boost constant (low speed characteristics)
This parameter specifies the setting on Magnetic Flux Boost Function.

Please refer to “5. Adjustment procedure of parameters” about setting of this paremeter
15i 16i,0i-B/C 30i,0i-D
3099 4099 4099 Dlay time for stable motor exitation
Unit of data: 1ms

Standard settingvalue: 0
This parameter sets a period of time required until motor excitation becomes stable in
rigid tapping or Cs contouring mode.
注
In general, set a value from about 300 to 400 (300 to 400ms), even
when the Magnetic Flux Boost Function is used.
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5. Adjustment procedure of parameters
1．If the motor model is not included in the below list, calculate parameter of No.4124(without speed
range switching or for high-speed characteristic) and No.4155(for low-speed characteristic) value
according to the following equation.
No.4124 = 24320 + MIN( 255, (No.4111 / 100)2 + 1 ) × 0.9 × 100
No.4155 = 24320 + MIN( 255, (No.4147 / 100)2 + 1 ) × 0.9 × 100 (No.4155=0 without speed range switching control)
2．If there is some vibration of spindle during boosting magnetic flux, decreased the value of
No.4124 (No.4155) by 10 and more 10 if necessary (The minimum value of the parameter setting
is 24420)
■Parameter list of No.4124 (No.4155)

a.Spindle motor αiI series(200V)
Magnetic Flux Boost completion level
/ Magnetic flux boost constant
Applicable
Motor model No.4124 No.4155
amplifier
(high-speed (low-speed
characteristic) characteristic)
αiI 0.5/10000 αiSP2.2 24570 0
αiI 1/10000 αiSP2.2 24448 0
αiI 1.5/10000 αiSP5.5 24535 0
αiI 2/10000 αiSP5.5 24501 0
αiI 3/10000 αiSP5.5 24521 0
αiI 6/10000 αiSP11 24570 0
αiI 8/8000 αiSP11 24497 0
αiI 12/7000 αiSP15 24499 0
αiI 15/7000 αiSP22 24556 0
αiI 18/7000 αiSP22 24575 0
αiI 22/7000 αiSP26 24564 0
αiI 30/6000 αiSP45 24575 0
αiI 40/6000 αiSP45 24575 0
αiI 50/4500 αiSP55 24575 0
αiI 1.5/15000 αiSP15 24505 0
αiI 2/15000 αiSP22 24501 0
αiI 3/12000 αiSP11 24513 0
αiI 6/12000 αiSP11 24464 24570
αiI 8/10000 αiSP11 24493 24497
αiI 12/10000 αiSP15 24499 24499
αiI 15/10000 αiSP22 24515 24556
αiI 18/10000 αiSP22 24570 24575
αiI 22/10000 αiSP26 24477 24531
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b.Spindle motor αiIP series(200V)

Applicable
amplifier
αiIP 12/6000 αiSP11 24575 24575
αiIP 12/8000 αiSP11 24575 24575
αiIP 15/6000 αiSP15 24575 24575
αiIP 15/8000 αiSP15 24575 24575
αiIP 18/6000 αiSP15 24541 24575
αiIP 18/8000 αiSP15 24541 24575
αiIP 22/6000 αiSP22 24575 24575
αiIP 22/8000 αiSP22 24575 24575
αiIP 30/6000 αiSP22 24575 24575
αiIP 40/6000 αiSP26 24575 24575
αiIP 50/6000 αiSP26 24575 24575
αiIP 60/4500 αiSP30 24575 24575
c.Spindle motor αiIT series(200V)

Applicable
amplifier
αiIT 1.5/15000 αiSP15 24505 0
αiIT 2/15000 αiSP22 24501 0
αiIT 3/12000 αiSP11 24513 0
αiIT 6/12000 αiSP15 24509 24575
αiIT 8/12000 αiSP15 24447 24491
αiIT 8/15000 αiSP26 24450 24514
αiIT 15/10000 αiSP22 24515 24556
αiIT 15/12000 αiSP30 24566 24575
αiIT 22/10000 αiSP26 24477 24531
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d.Spindle motor αiI series(400V)

Applicable
amplifier
αiI 0.5/10000HV αiSP5.5HV 24558 0
αiI 1/10000HV αiSP5.5HV 24449 0
αiI 1.5/10000HV αiSP5.5HV 24537 0
αiI 2/10000HV αiSP5.5HV 24575 0
αiI 3/10000HV αiSP5.5HV 24551 0
αiI 6/10000HV αiSP11HV 24575 0
αiI 8/8000HV αiSP11HV 24544 0
αiI 12/7000HV αiSP15HV 24562 0
αiI 15/7000HV αiSP30HV 24575 0
αiI 22/7000HV αiSP30HV 24539 0
αiI 30/6000HV αiSP45HV 24575 0
αiI 40/6000HV αiSP45HV 24564 0
αiI 60/4500HV αiSP75HV 24575 0
αiI 100/4000HV αiSP75HV 24533 24553
e.Spindle motor αiIP series(400V)

Applicable
amplifier
αiIP 15/6000HV αiSP15HV 24575 24575
αiIP 40/6000HV αiSP30HV 24575 24575
αiIP 50/6000HV αiSP30HV 24541 24575
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f.Spindle motor αiIT series(400V)

Applicable
amplifier
αiIT 1.5/15000HV αiSP15HV 24548 0
αiIT 3/12000HV αiSP11HV 24513 0
αiIT 6/12000HV αiSP15HV 24513 24575
αiIT 8/12000HV αiSP15HV 24447 24510
αiIT 8/15000HV αiSP15HV 24494 24575
αiIT15/10000HV αiSP30HV 24544 24575
αiIT15/12000HV αiSP30HV 24575 24575
αiIT22/10000HV αiSP30HV 24489 24575
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g.Built-in spindle motor BiI series(standard type)

Applicable
amplifier
BiI 50S/30000 αiSP2.2 24575 0
BiI 50M/25000 αiSP2.2 24551 0
BiI 50L/25000 αiSP5.5 24575 0
BiI 80S/20000 αiSP5.5 24506 24569
BiI 80M/15000 αiSP2.2 24448 0
BiI 80L/8000 αiSP5.5 24535 0
BiI 100S/12500 αiSP5.5 24551 0
BiI 112SS/20000 αiSP11 24575 24575
BiI 112S/15000 αiSP22 24487 24575
BiI 112M/15000 αiSP11 24568 0
BiI 112L/15000 αiSP30 24575 24575
BiI 112LL/15000 αiSP30 24575 24575
BiI 132M/14000 αiSP30 24575 24575
BiI 132L/14000 αiSP30 24575 24575
BiI 160S/13000 αiSP22 24575 24575
BiI 160M/13000 αiSP30 24575 24575
BiI 160L/13000 αiSP22 24575 24575
BiI 160LL/13000 αiSP30 24575 24575
BiI 170S/6000 αiSP22 24533 24575
BiI 170M/6000 αiSP26 24575 24575
BiI 180M/6000 αiSP30 24575 24575
BiI 180L/6000 αiSP30 24575 24575
BiI 180LL/8000 αiSP30 24575 24575
BiI 200S/6000 αiSP37 24575 24575
BiI 200M/6000 αiSP30 24575 24575
BiI 200L/6000 αiSP45 24575 24575
BiI 250S/6000 αiSP45 24514 24575
BiI 250M/3000 αiSP55 24575 24575
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h.Built-in spindle motor BiI series(high speed type)

Applicable
amplifier
BiI 40S/70000 αiSP2.2 24467 0
BiI 40M/70000 αiSP11 24575 0
BiI 60SS/50000 αiSP11 24575 0
BiI 60S/50000 αiSP22 24575 24575
BiI 80S/40000 αiSP45 24575 0
BiI 100S/20000 αiSP22 24575 24575
BiI 100S/30000 αiSP30 24569 24575
BiI 100L/30000 αiSP30 24575 24575
BiI 112S/20000 αiSP30 24575 24575
BiI 112M/20000 αiSP30 24499 24575
BiI 112L/20000 αiSP30 24522 24575
BiI 112L/25000 αiSP75HV 24575 24575
BiI 160M/20000 αiSP30 24575 24575
BiI 160L/20000 αiSP30 24575 24575
BiI 160LL/20000 αiSP75HV 24575 24575
BiI 200S/10000 αiSP75HV 24575 24575
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Improvement of spindle parameter specification
for rigid tapping and spindle synchronous control

FANUC BUILT-IN SPINDLE MOTOR Bi series
PARAMETER MANUAL
New, Add Applicable

Group Name / Outline Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Another Improvement of parameter specification for rigid

Add 2008.06
tapping and spindle synchronous control
Improvement of parameter specification for

TITLE rigid tapping and spindle synchronous
control
DRAW.
No. B-65280EN/07-03
01 08.06.24 G.Li
EDIT DATE DESIGN DESCRIPTION FANUC LTD Page 1/6
Improvement of spindle parameter specification
for rigid tapping and spindle synchronous control
(1) General
Concerning spindle parameters for rigid tapping and spindle synchronous control, common parameters
have been used for velocity loop gain, position gain and motor voltage. So the specifications are improved
to set separately. This manual describes new parameters for the separate setting. And if the new
parameter is set to 0, the common parameter is available as before.
(2) Series and edition of software
Spindle software series and edition
Series Edition Usable CNC

9D70 O(15)or later FANUC Series 30i /31i /32i
FANUC Series 30i /31i /32i ,
9D80 K(11)or later
FANUC Series 0i–D
CNC software series and edition
In case of 30i Series, applicable software is as follows.

G002/G012/G022/G032 X(24) or later
FANUC Series 30i /300i /300is –A
G003/G013/G023/G033 G(07) or later
G121/G131 X(24) or later
FANUC Series 31i /310i /310is –A5
G123/G133 G(07) or later
G101/G111 X(24) or later
G103/G113 G(07) or later
G201 X(24) or later
G203 G(07) or later

control
DRAW.
No. B-65280EN/07-03
01 08.06.24 G.Li
(3) List of parameters
Rigid Spindle synchronous

Condition
tapping control
No.4044 No.4550=0
Velocity loop proportional gain(HIGH) CTH1A=0 No.4044
No.4550 No.4550≠0
1
No.4045 No.4551=0
Velocity loop proportional gain(LOW) CTH1A=1 No.4045
No.4551 No.4551≠0
No.4052 No.4552=0
Velocity loop integral gain (HIGH) CTH1A=0 No.4052
No.4552 No.4552≠0
2
Velocity loop integral gain (LOW) No.4053 No.4553=0
No.4053
CTH1A=1 No.4553 No.4553≠0
No.4065 No.4554=0
Position gain(HIGH) CTH1A=0,CTH2A=0 No.4065
No.4554 No.4554≠0
Position gain(MEDIUM HIGH) No.4066 No.4555=0
No.4066
CTH1A=0,CTH2A=1 No.4555 No.4555≠0
3 Position gain(MEDIUM LOW) No.4067 No.4556=0
No.4067
CTH1A=1,CTH2A=0 No.4556 No.4556≠0
No.4068 No.4557=0
Position gain(LOW) CTH1A=1,CTH2A=1 No.4068
No.4557 No.4557≠0
No.4085 No.4558=0
Motor voltage (High-speed characteristics) No.4085
No.4558 No.4558≠0
4 No.4137 No.4559=0
Motor voltage (Low-speed characteristics) No.4137
No.4559 No.4559≠0
(4) Details of parameters
(4-1)Velocity loop proportional gain parameters
30i,0i -D
4044 Velocity loop proportional gain for rigid tapping /spindle synchronous control
(HIGH) CTH1A=0
4045 Velocity loop proportional gain for rigid tapping/spindle synchronous control
(LOW) CTH1A=1
Unit of data:
These parameters set a velocity loop proportional gain for rigid apping
(servo mode) or spindle synchronous control. When the input signal
CTH1A=0,(HIGH) is selected. When the input signal CTH1A=1,
(LOW) is selected.
NOTE
If No.4550/No.4551≠0, No.4550/ No.4551 is valid for spindle
synchronous control.

control
DRAW.
No. B-65280EN/07-03
01 08.06.24 G.Li
30i,0i -D
4550 Velocity loop proportional gain for spindle synchronous control (HIGH)
CTH1A=0
4551 Velocity loop proportional gain for spindle synchronous control (LOW)
CTH1A=1
Unit of data:
These parameters set a velocity loop proportional gain for spindle
synchronous control . When the input signal CTH1A=0,(HIGH) is
selected. When the input signal CTH1A=1,(LOW) is selected.
NOTE
If No.4550/No.4551=0, No.4044/ No.4045 is valid for both
spindle synchronous control and rigid tapping.
(4-2)Velocity loop integral gain parameters
30i,0i -D
4052 Velocity loop integral gain for rigid tapping/spindle synchronous control
(HIGH) CTH1A=0
4053 Velocity loop integral gain for rigid tapping/spindle synchronous control
(LOW) CTH1A=1
Unit of data:
These parameters set a velocity loop integral gain for rigid tapping
(servo mode ) or spindle synchronous control. When the input signal
CTH1A=0,(HIGH) is selected. When the input signal CTH1A=1,
(LOW) is selected.
NOTE
If No.4552/No.4553≠0, No.4552/ No.4553 is valid for spindle
30i,0i -D
4552 Velocity loop integral gain for spindle synchronous control (HIGH) CTH1A=0
4553 Velocity loop integral gain for spindle synchronous control (LOW) CTH1A=1
Unit of data:
These parameters set a velocity loop integral gain for spindle
synchronous control. When the input signal CTH1A=0,(HIGH) is
selected. When the input signal CTH1A=1, (LOW) is selected.
NOTE
If No.4552/No.4553=0, No.4052/ No.4053 is valid for both

control
DRAW.
No. B-65280EN/07-03
01 08.06.24 G.Li
(4-3) Position gain parameters
30i,0i -D
4065 Spindle position gain for rigid tapping/spindle synchronous control

(HIGH) CTH1A=0, CTH2A=0
(MEDIUM HIGH) CTH1A=0, CTH2A=1
(MEDIUM LOW) CTH1A=1, CTH2A=0
(LOW) CTH1A=1, CTH2A=1
Unit of data: 0.01sec-1

These parameters set a position gain for rigid tapping (servo mode) or
spindle synchronous control.A parameter is selected according to the
input siganals CTH1A and CTH2A.
NOTE
If No.4554/No.4555/No.4556/No.4557≠0, No.4554/No.4555
No.4556 /No.4557 is valid for spindle synchronous control.
30i,0i -D
4554 Spindle position gain for spindle synchronous control

(HIGH) CTH1A=0, CTH2A=0
(MEDIUM HIGH) CTH1A=0, CTH2A=1
(MEDIUM LOW) CTH1A=1, CTH2A=0
(LOW) CTH1A=1, CTH2A=1
Unit of data: 0.01sec-1

These parameters set a position gain for spindle synchronous control.
A parameter is selected according to the input siganals CTH1A and CTH2A.
NOTE
If No.4554/No.4555/No.4556/No.4557=0, No.4065/No.4066
/No.4067 /No.4068 is valid for both spindle synchronous control
and rigid tapping.

control
DRAW.
No. B-65280EN/07-03
01 08.06.24 G.Li
(4-4) Motor voltage parameters
30i,0i -D
4085 Motor voltage for rigid tapping/spindle synchronous control

(High-speed characteristics)
4137 Motor voltage for rigid tapping/spindle synchronous control
(Low-speed characteristics)
Unit of data: 1%
Standard setting value: Depends on the model
These parameters set a motor voltage for rigid tapping (servo mode)
or spindle synchronous control.
When performing rigid tapping,set 100 usually. When setting a value
less than 100,set bit 1 of No.4540 to 1 as the setting of control
characteristics for rigid tapping .
When performing spindle synchronous control, usually set the same
value as for the setting of a motor voltage (No.4083/ No.4136) for the
velocity control mode.
NOTE
If No.4558/No.4559≠0, No.4558/No.4559 is valid for spindle
30i,0i -D
4558 Motor voltage for spindle synchronous control (High-speed characteristics)

4559 Motor voltage for spindle synchronous control (Low-speed characteristics)
Unit of data: 1%

These parameters set a motor voltage for spindle synchronous control.
Usually set the same, value as for the setting of a motor voltage
(No.4083/ No.4136) for the velocity control mode.
NOTE
If No.4558/No.4559=0, No.4085/No.4137 is valid for both

control
DRAW.
No. B-65280EN/07-03
01 08.06.24 G.Li
Change of spindle software series name
(9D50 series → 9D5A series)

PARAMETER MANUAL
New, Add Applicable
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Another
9D5A series is the succeeding software to 9D50 series. Add 2008.06
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01 08.06.25 Tsutsumi B-65280EN/07-04
Ed. Date Design. FANUC LTD

SHEET
1/2
Change of spindle software series name (9D50 series → 9D5A series)
1. General
The name of a spindle software series is changed.
9D5A series is the succeeding software to 9D50 series, and 9D50/Y(25) is revised to 9D5A/A(01).
…→ 9D50/X →(revise)→ 9D50/Y →(revise)→ 9D5A/A →…
2. Spindle software series, drawing No. and amplifier specification No.
Software Software
Amplifier specification No. Notes
series drawing No.
A06B-6111-Hxxx#H550 16i/18i/21i,
9D50 series A06B-6112-Hxxx#H550
αiSP 0i-B/C, 15i, PMi-D
(Old) A06B-6121-Hxxx#H550
↓ A06B-6111-H550 A06B-6122-Hxxx#H550 For induction spindle motors
9D5A series
(New) βiSVSP
A06B-6134-Hxxx#A 0i-B/C
A06B-6134-Hxxx#D For induction spindle motors
• Only the name of the spindle software is changed.

• The specification No. of the amplifier is not changed.
• 9D5A series is revised from 9D50 series, and has an upper compatibility with 9D50 series.
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Revision of spindle software (sensorless) (9D60/E)

PARAMETER MANUAL
New, Add Applicable
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Another
Revision of spindle software 9D60/E Add 2008.08
TITLE
Revision of spindle software (sensor less)
(9D60/E)
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01 08.08.06 Morita B-65280EN/07-05
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Revision of spindle software (sensorless) (9D60/E)
1. General
Spindle software for βiSVSP (sensorless spindle) and αiSP(TYPE C) was revised as follows.

Software Software
Spindle amplifier specification
drawing No. edition
A06B-6165-Hxxx#H560
9D60
A06B-6116-H560
edition E(05) A06B-6134-Hxxx#C
A06B-6116-Hxxx#H560
(1) βiSVSP (A06B-6165-Hxxx#H560) for FS0i-D is supported.
(2) Model code of a βiΙ spindle motor (sensorless) is added. Refer to item4.
Model code Motor model Applicable amplifier

252 βiΙ 3/6000 βiSVSP*-7.5 (6165)
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01 08.08.06 Morita B-65280EN/07-05
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4. Added model code
Motor model β i Ι 3/6000
Applicable amplifier β i SVSP* -7.5

(6165)
Model code 252
Applicable software series and
9D60/E
edition
3.7kW
Continuous rating -1
2000/6000min
5.5kW
Short-time rating -1
1500/6000min
FS0i
4001 00000001
4002 00000000
4010 00000000
4011 00011000
4012 00000000
4013 00001100
4019 00000000
4020 6000
4040, 4041 50
4042~4045 100
4048, 4049 200
4050~4053 400
4080 75
4083 60
4084 60
4085 60
4100 1500
4101 90
4102 1800
4103 53
4104 400
4105 25
4106 100
4107 800
4108 200
4109 25
4110 928
4111 250
4112 200
4113 1000
4114 0
4115 100
4116 8500
4117 29530
4118 120
4119 10
4120 15
4124 0
4127 164
4129 0
4130 100
4131 12900
4134 110
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01 08.08.06 Morita B-65280EN/07-05
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Revision of αi series Spindle Software
(9D5A/B, 9D53/P, 9D70/P, 9D80/L)

PARAMETER MANUAL
New, Add Applicable
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Another
Revision of spindle software 9D5A/B,9D53/P, 9D70/P,9D80/L Add 2008.08
TITLE
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01 08.08.09 Tsutsumi B-65280EN/07-06
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Revision of αi series Spindle Software (9D5A/B, 9D53/P, 9D70/P, 9D80/L)
1. General
αi series spindle software was revised as follows.

Software Spindle amplifier specification
Notes
edition
A06B-6111-Hxxx#H550 16i/18i/21i,
A06B-6112-Hxxx#H550
9D5A A06B-6121-Hxxx#H550
A06B-6122-Hxxx#H550 Induction spindle motor
edition B(02)
A06B-6134-Hxxx#A
βiSVSP 0i-B/C
A06B-6134-Hxxx#D
Induction spindle motor
A06B-6111-Hxxx#H553 16i/18i/21i,
9D53 A06B-6112-Hxxx#H553
edition P(16) A06B-6121-Hxxx#H553
A06B-6122-Hxxx#H553 Synchronous spindle motor
A06B-6111-Hxxx#H570
9D70 A06B-6112-Hxxx#H570 30i/31i/32i
αiSP
edition P(16) A06B-6121-Hxxx#H570 Induction/ synchronous spindle motor
A06B-6122-Hxxx#H570
A06B-6141-Hxxx#H580 30i/31i/32i，
A06B-6142-Hxxx#H580 16i/18i/21i，
αiSP
edition L(12) A06B-6152-Hxxx#H580 Induction/ synchronous spindle motor
0i-D
βiSVSP A06B-6164-Hxxx#H580
Contents of modification 9D5A/B 9D53/P 9D70/P 9D80/L

(1) The Magnetic Flux Boost Function (B-65280EN/07-02)
shortens the time to raise up the magnetic flux of an
induction motor when changing to rigid tapping mode or
Cs contouring mode. The condition to close the position
- - - ○
loop for this function is improved.
(2) The problem that the spindle rotates a little and stops
when orientation command (ORCM) is turned off is
corrected.
In case of normal ladder sequence which is programmed
to set forward/reverse spindle rotation command to 1 after
○ ○ ○ ○
setting orientation command to 0, there is no problem.
Please refer to technical report (A-53866E-505)
○: Revised item
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01 08.08.09 Tsutsumi B-65280EN/07-06
SHEET
FANUC LTD
(9D5A/C, 9D53/Q, 9D70/Q, 9D80/M)

PARAMETER MANUAL
New, Add Applicable
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Another
Revision of spindle software 9D5A/C,9D53/Q,9D70/Q,9D80/M Add 2008.10
TITLE
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01 08.10.2７ Li B-65280EN/07-07
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Revision of αi series Spindle Software (9D5A/C, 9D53/Q, 9D70/Q, 9D80/M)
1. General

Notes
edition
A06B-6111-Hxxx#H550 16i/18i/21i,
A06B-6112-Hxxx#H550
9D5A A06B-6121-Hxxx#H550
edition C(03)
A06B-6134-Hxxx#A
βiSVSP 0i-B/C
A06B-6134-Hxxx#D
A06B-6111-Hxxx#H553 16i/18i/21i,
9D53 A06B-6112-Hxxx#H553
edition Q(17) A06B-6121-Hxxx#H553
A06B-6111-Hxxx#H570
9D70 A06B-6112-Hxxx#H570 30i/31i/32i
αiSP
edition Q(17) A06B-6121-Hxxx#H570 Induction/ synchronous spindle motor
A06B-6122-Hxxx#H570
A06B-6141-Hxxx#H580 30i/31i/32i，
A06B-6142-Hxxx#H580 16i/18i/21i，
αiSP
edition M(13) A06B-6152-Hxxx#H580 Induction/ synchronous spindle motor
0i-D
Contents of modification 9D5A/C 9D53/Q 9D70/Q 9D80/M
(1) The display function for amplitude and offset of αiCZ sensor
is added. (Please refer to technical report B-65282EN/06-03.) - - - ○
(2) Valid data range of acceleration parameter at polygon turning
with two spindles is extended. (Please refer to item 4.) ○ ○ ○ ○
○ : Revised item
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4. The acceleration parameter for polygon turning with two spindles
(1) Overview
Valid data range of acceleration parameter for polygon turning with two spindles is extended.
In the current spindle software, there is the low limit of acceleration setting (No.4032) as
follows.
FS30i : 916
FS16i, FS0i : 229
If the setting of No.4032 is less than above value, cutting problem in polygon turning will
occur.
If the polygon turning with two spindles is used with low acceleration setting, please set the
new bit parameter (No.4001#1).
(2) Parameter
16i 30i,0i-D #7 #6 #5 #4 #3 #2 #1 #0
4001 4001 POLYM
POLYM Sets the lower limit of setting range of acceleration (No.4032) for polygon
turning with two spindles
0 : Normal setting
1 : Polygon turning with two spindles is used and acceleration (No.4032) is
the following value:
FS30i : 915 or less
FS16i, FS0i : 228 or less
16i 30i,0i-D
4032 4032 Acceleration for Spindle synchronous control or Polygon turning

Unit of data: 1min-1/sec (when parameter No. 4006#2 (SPDUNT) = 1, 10 min-1/sec)
Standard setting: 0
Valid data range:
This parameter is used for spindle synchronous control or polygon turning with two
spindles. There was a limitation of data range when you use polygon turning. You can get
rid of the limitation by setting No.4001#1=1
Valid data range

Spindle synchronous control 0~32767
POLYM =0 POLYM=1
Polygon turning FS16i, FS0i-D FS30i
0~32767
with two spindles SPDUNT=0 SPDUNT=1 SPDUNT=0 SPDUNT=1
0, 229~32767 0, 23~32767 0, 916~32767 0, 92~32767
NOTE
1 Set exactly same data to 1st spindle and 2nd spindle. When different
data is set, synchronization between the two spindles is not
guaranteed.
2 When this parameter is set to 0, motor doesn’t accelerate/decelerate,
so, be sure to set proper value in this parameter.
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Adaptive Resonance Elimination filter

Name FANUC AC SPINDLE MOTOR αi series
FANUC AC SPINDLE MOTOR βi series
PARAMETER MANUAL
Group Name / Outline New, Add Applicable
Correct, Del Date
Basic Adaptive Resonance Elimination filter Add 2008.11
Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Another
TITLE
DRAW. No.
1 08.11.18 Takahashi Newly designed Toyozawa B-65280EN/07-08
CUST.
Design.
SHEET
Ed. Date Description FANUC LTD 1/8
FANUC AC SPINDLE MOTOR αi series
Adaptive Resonance Elimination Filter Description
(1) Overview ............................................................................................................................................. 3

(2) Applicable Spindle software ................................................................................................................ 3
(3) PMC signal.......................................................................................................................................... 4
Sequence example ............................................................................................................................................ 5
(4) Parameters.......................................................................................................................................... 6
(5) Confirmation of search result .............................................................................................................. 8
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(1) Overview
“Adaptive Resonance Elimination Filter” is the function that one of
Resonance-Elimination-filter searches a change of resonance frequency
(1) This function can search a change of resonance frequency caused by

the following factors.
・ Individual difference of machine
・ Secular change of machine
・ Individual difference of work-piece
(2) If the search-mode signal is inputting, a search of resonance frequency

is executed in the search range. And if SP (Spindle amplifier) finds the
frequency of having maximum spectrum among over the detection-level
as the resonance frequency, SP replaces the center frequency of
resonance elimination filter 1 to the detected frequency.
Characteristic of filter: Search-mode
Adapting to large change of

resonance
F(Hz)
(3) While the search-mode signal is input, a search of resonance frequency
continues, and if SP detects the different frequency, the center frequency
of resonance elimination filter 1 is updated to its frequency.
(4) The detected resonance frequency can be confirmed by CNC diagnosis

screen.
Note
(1) This function can apply only on Resonance Elimination Filter 1
(N0.4391/ 4392/ 4393).
(2) This function can be validated in a state that motor excitation is on.
(3) This function can be validated in a state of the signal HF1=0. (HF1:
Resonance Elimination Filter disable signal 1 : G305#0 )
(4) The center frequency parameter No.4391 of Resonance Elimination
Filter 1 cannot be updated by the search result automatically.
(5) If you use Spindle Tuning function of SERVO GUIDE, you must turn
off the search-mode signal.
(2) Applicable Spindle software

Spindle software
9D90 A (01) edition or latter FS0i -D, FS30i / FS31i /FS32i
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(3) PMC signal
30i #7 #6 #5 #4 #3 #2 ＃1 #0
1st- G304 FRFSMA
2nd- G308 FRFSMB
FRFSM: Search-mode signal for Adaptive Resonance Elimination Filter
=0: Search-mode stop (invalidity)
=1: Search-mode start
If this signal is set to “1”, a search of resonance frequency is started.
A search of resonance frequency is continued after FRDTE became “1” while
this signal is “1”, and the center frequency of Resonance Elimination Filter 1 is
updated internally when the resonance frequency is detected newly.
NOTE
Even if this signal is input, this function is invalid in the following conditions.
1 The Resonance Elimination Filter disable signal 1 (HF1) is input.
2 The motor excitation is off.
3 The pole detection is not complete. (in case of synchronous spindle
motor drive)
30i #7 #6 #5 #4 #3 #2 ＃1 #0
1st- G305 HF1A
2nd- G309 HF1B
HF1: Resonance Elimination Filter disable signal 1
=0: Enable
=1: Disable
If this signal is “1(Disable)”, the resonance Elimination filter 1 by the
parameter No.4391/4392/4393 is disabled. In this case, Adaptive Resonance
Elimination Filter is also disabled.
30i #7 #6 #5 #4 #3 #2 ＃1 #0
1st- F307 FRDTEA
2nd- F309 FRDTEB
FRDTE: Search-completion signal for Adaptive Resonance Elimination Filter
=0: Not complete
=1: Complete
After FRFSM (Search-start signal) is input, if a search of resonance frequency
in the selected frequency range by the parameter is finished two times, this
signal becomes “1”.
NOTE
This signal is reset to “0” by the following conditions.
1 The Resonance Elimination Filter disable signal 1 (HF1) is input.
2 The Adaptive Resonance Elimination Filter becomes invalid by
No.4396#3=0.
3 The parameter No.4391 (Center frequency of Resonance Elimination
Filter 1) is changed.
4 The search-start signal (FRFSM) changes from “0” to “1”.
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Sequence example
Ex.1) Always search the resonance frequency during machining
When a resonance frequency changes during machining, this function follows the change of the
resonance frequency by keeping a Search-start signal FRFSM “1”.
HF1(G305#0) HF1=0(Resonance Elimination Filter 1 is enabled)
FRFSM(G304#7)
Search state In search state
F2(Searched frequency)
Adapted inner center F0(No.4391) F1(Searched frequency)
frequency
Search Search
start stop
FRDTE(F307#0)
Processing During machining
Ex.2) Fix a center frequency by a search result during machining

In case that you don’t want to change the frequency setting to damp even if the resonance frequency is
different depending on work-piece, the center frequency can be fixed during machining by turning off the
search-mode signal after the completion of search.
HF1(G305#0) HF1=0(Resonance Elimination Filter 1 is enabled)
FRFSM(G304#7)
Search state In search Search stop In search Search stop

state state
Adapted inner center F0(No.4391)
frequency
Search Search interruption Search interruption

start
FRDTE(F307#0)
Processing During During

machining machining
Work change
Work change Work change

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(4) Parameters
30i #7 #6 #5 #4 #3 #2 ＃1 #0
4396 ACREF
ACACREF: Adaptive Resonance Elimination Filter
=0: Disable
=1: Enable
If Adaptive Resonance Elimination Filter is used, set this bit to “1”. This
function can apply to Resonance Elimination Filter 1.
NOTE
This function can apply only to Resonance Elimination Filter 1. In the
other Resonance Elimination Filters, this function cannot be applied.
(Resonance Elimination Filter 2, 3, 4 : No.4416/ 4417/ 4418, No.4419/
4420/ 4421, No.4422/ 4423/ 4424)
30i
4391 Resonance Elimination Filter 1 : Attenuation center frequency
Data unit : 1Hz

Data range : 96 to 3000
In case of enabling Adaptive Resonance Elimination Filter, this parameter
specifies the center frequency of search range, and the frequency range is
specified by the parameter No.4561.
NOTE
The search result is cancelled if this parameter is changed.
30i
4392 Resonance Elimination Filter 1 : Attenuation bandwidth
Data unit : 1Hz

NOTE
If this parameter is “0”, the filter function itself is void. But the search of
resonance frequency is enabled, and so the search result can be
confirmed by DGN screen in that situation.
30i
4393 Resonance Elimination Filter 1 : Damping
Data unit : 1%
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30i
4560 Adaptive Resonance Elimination Filter : Detective level
Data unit : 0.1% [100% Æ Maximum Torque]

This parameter specifies the minimum detective level of vibration spectrum.
If the vibration spectrum is smaller than this level, this function does not
regard its vibration frequency as the resonance. (Its vibration frequency is
neglected.).
If this parameter is “0”, the setting value is used as 8 (0.8%).
NOTE
If this parameter value is small, the vibration frequency may be not
searched correctly. Please confirm that this function can search the
vibration frequency properly at the actual machine beforehand when
this function is used.
30i
4561 Adaptive Resonance Elimination Filter : Search range
Data unit : 1Hz
Data range : 0, 100 to 1900
This parameter specifies the search range for Adaptive Resonance
Elimination Filter.
The search is performed in the frequency range [(No.4391-No.4561) to
(No.4391+No.4561)] set by parameters. If the search range is out of the
detection range of 100 to 2000Hz, the search is executed within this range.
If this parameter is “0”, the setting value is used as 1900Hz.
Search range
Fc = No.4391
fs fs fs = No.4561
Frequency [Hz]
100 Fc-fs Fc Fc+fs 2000
NOTE
1 Please set the search range, so that it and the frequency-range to
damp in other Resonance Elimination Filters do not overlap.
2 If the frequency range of the resonance can be known
beforehand, narrow setting of search range will shorten the
searching time.
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(5) Confirmation of search result
By the following setting, the search result of Adaptive Resonance
Elimination filter can be confirmed.
30i
4532 Arbitray data output function number
Data unit :
Standard : 0
The following data in search processing can be confirmed on CNC diagnosis
screen if this parameter is set to “6”. The value of diagnosis 720 is the searched
frequency when diagnosis 722 is “1”.
Diagnosis 720: Shows the resonance frequency that was searched and was set
as the center frequency of Resonance Elimination Filter 1
internally
Diagnosis 722: Shows the condition of FRDTE (Search completion signal)
=0: Search unfinished condition
=1: Search finished condition
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(9D5A/D, 9D53/R, 9D70/R, 9D80/N)

PARAMETER MANUAL
New, Add Applicable
Correct, Del Date
Basic Function
Optional
Function
Unit
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Parts
Notice
Correction
Another
Revision of spindle software 9D5A/D,9D53/R,9D70/R,9D80/N Add 2009.01
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Revision of αi series Spindle Software (9D5A/D, 9D53/R, 9D70/R, 9D80/N)
1. General

Notes
edition
A06B-6111-Hxxx#H550 16i/18i/21i,
A06B-6112-Hxxx#H550
9D5A A06B-6121-Hxxx#H550
edition D(04)
A06B-6134-Hxxx#A
βiSVSP 0i-B/C
A06B-6134-Hxxx#D
A06B-6111-Hxxx#H553 16i/18i/21i,
9D53 A06B-6112-Hxxx#H553
edition R(18) A06B-6121-Hxxx#H553
A06B-6111-Hxxx#H570
9D70 A06B-6112-Hxxx#H570 30i/31i/32i
αiSP
edition R(18) A06B-6121-Hxxx#H570 Induction/ synchronous spindle motor
A06B-6122-Hxxx#H570
A06B-6141-Hxxx#H580 30i/31i/32i，
A06B-6142-Hxxx#H580 16i/18i/21i，
αiSP
edition N(14) A06B-6152-Hxxx#H580 Induction/ synchronous spindle motor
0i-D
Contents of modification 9D5A/D 9D53/R 9D70/R 9D80/N

The problem that the cutting form does not become a polygonal
figure in polygon turning with two spindles is corrected. (Please
refer to item 4.)
○ ○ ○ ○
○ : Revised item
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4. Modification for the problem of polygon turning with two spindles
(1) Overview
We expanded the valid data range of acceleration parameter (No.4032) for polygon turning with
two spindles in the spindle software informed in B-65280EN/07-07. But the modification was
inadequate, so we revised it again.
The cutting form might become an unexpected figure in polygon turning with two spindles due
to the existing of lower limit of setting range of acceleration parameter (No.4032). If the polygon
turning with two spindles is used with low acceleration setting, please use it with 9D5A series
D(04) edition or later, 9D53 series R(18) edition or later, 9D70 series R(18) edition or later,
9D80 series N(14) edition or later and set the bit parameter below.
(2) Parameter
16i 30i,0i-D #7 #6 #5 #4 #3 #2 #1 #0
4001 4001 POLYM
POLYM The lower limit of setting range of acceleration (No.4032) for polygon
turning with two spindles
0: Normal setting
For FS30i: 915
For FS16i, FS0i: 229
1 : Extended setting
For FS30i: 1
For FS16i, FS0i: 1
NOTE
1 This parameter is valid with 9D5A series D (04)
edition or later, 9D53 series R(18) edition or later,
9D70 series R(18) edition or later, 9D80 series N(14)
edition or later.
2 Please use this parameter only when both spindle
amplifiers relating the polygon turning use above
spindle software. If not, please don’t use it.
3 Do not set this parameter to “1” with 9D5A series
C(03) edition, 9D53 series Q(17) edition, 9D70
series Q(17) edition or 9D80 series M(13) edition,
because acceleration in polygon turning with two
spindles may not be limited to the parameter setting
(No.4032).
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16i 30i,0i-D
4032 4032 Acceleration for Spindle synchronous control or Polygon turning
Unit of data : 1min-1 (Unit of 10 min-1 when bit 2 (SPDUNT) of parameter No. 4006 = 1)
Standard setting value : 0
This parameter is used for spindle synchronous control or polygon turning
with two spindles. There was a limitation of data range when you use
polygon turning. You can get rid of the limitation by setting No.4001#1=1
Valid data range

Spindle
synchronous 0~32767
control
POLYM =0 POLYM=1
Polygon
FS16i, FS0i-D FS30i
turning with
SPDUNT=0 SPDUNT=1 SPDUNT=0 SPDUNT=1 0~32767
two spindles
0, 229~32767 0, 23~32767 0, 916~32767 0, 92~32767
NOTE
1 Set exactly same data to two or more spindles for spindle
synchronous control or polygon turning with two spindles. If different
data is set, synchronization between the spindles is not guaranteed.
2 When this parameter is set to 0, motor doesn’t accelerate/decelerate,
so, be sure to set proper value in this parameter.
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Speed Range Switching Control for Spindle Motor
(Supplement)

PARAMETER MANUAL
New, Add Applicable
Correct, Del Date
Basic
Function
Optional Supplement of Speed Range Switching Control is

Add 2009.05
Function added.
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Speed Range Switching Control
for Spindle Motor (Supplement)
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Speed Range Switching Control for Spindle Motor (Supplement)
This description is a supplement of the speed range switching control to switch windings of the spindle motor.
There are two methods for the speed range switching control. One is to switch windings depending on the
spindle speed command. The other is to switch windings depending on the actual motor speed. FANUC
recommends the method of switching depending on the speed command.
In case of the method of switching depending on the speed command, acceleration time to the maximum speed
is generally short, and acceleration is smooth. And it is better from the viewpoint of life of electromagnetic
contactors. Please refer to the following explanation with the spindle parameter manual.
1. Outline of Speed Range Switching Control
The speed range switching control is a function to switch windings of the spindle motor with 2 kinds of
windings, a low- speed winding and a high-speed winding. Wider speed range of constant power is obtained by
switching windings depending on the speed range.
Low-speed winding High-speed winding
Motor
power
Switching speed Motor speed
The low-speed winding and the high-speed winding are selected by switching motor power lines with
electromagnetic contactors. The bellows are connection examples of star-connection (low-speed winding) and
delta-connection (high-speed winding), star-connection 1 (low-speed winding) and star-connection 2 (high-speed
winding). Please refer to the motor specifications for each motor connection.
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The switching operation is executed by sequence control with PMC signals. The ladder sequence manages the
conditions to switch windings, and controls the PMC signals and the electromagnetic contactors.
The procedure of switching is that electromagnetic contactors start to switch off/on after cutting off motor
current, and then the motor current control starts again after completing operation of the electromagnetic
contactors. The motor current is controlled by spindle software. And the spindle software also switches internal
parameters for the low-speed winding and the high-speed winding.
Switching signals Low-speed

Power winding
lines Induction
PMC CNC Spindle spindle
amplifier
High-speed motor
Electromagnetic
winding
contactors
Feedback signal (Switching unit)
2. Method of Speed Range Switching Control
In case of using the speed range switching control, the method of switching windings depending on the speed
command is recommended.
・ Method of switching windings depending on the speed command (Recommended method)

・ Method of switching windings depending on the actual motor speed
The method of switching windings depending on the speed command means that the spindle accelerates after
selecting a winding depending on the speed command at stop as shown below. With this method, generally the
acceleration time up to the maximum speed is short and acceleration is smooth. And it is also better from the
viewpoint of life of the electromagnetic contactors.
Speed
Time
If the speed command is in the range of the If the speed command is in the range of the
high-speed winding, the spindle accelerates low-speed winding, the spindle accelerates
after selecting the high-speed winding. after selecting the low-speed winding.
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The comparison between the two methods is shown as follows.
Method of switching windings Method of switching windings

depending on the speed command depending on the actual motor speed
Acceleration time from Only the high-speed winding is used Switching from the low-speed winding to
stop to the maximum without switching during acceleration. the high-speed winding is executed during
speed Because of no switching time acceleration.
(generally 200 or 300 ms), the So the switching time (generally 200 or 300
acceleration time from starting ms) is required.
rotation becomes short. If the switching time is negligible
comparing the acceleration time because of
large inertia, etc., the acceleration time by
this method with the low-speed winding
may be shorter.
Speed fluctuation at Because of no switching during Because of switching during acceleration,
acceleration acceleration, acceleration is smooth acceleration is not smooth with
without interruption. interruption.
Life of electromagnetic Because of only necessary switching, it Because switching is executed every
contactors is better from the viewpoint of life of acceleration to the range of high-speed
electromagnetic contactors. winding, it is not good from the viewpoint of
life of electromagnetic contactors.
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2.1. Method of switching windings depending on the speed command
This is a method that windings are switched by judging whether the speed command is within the range of
the low-speed winding or that of the high-speed winding with referring to the spindle speed command (S
command). The windings should be selected by using S code output (S31-S00) or S12 bit code output
(S12O-S01O).
2.1.1. Spindle rotation, spindle stop
(1) With referring to the spindle speed command (S command), switch to the low-speed winding if the
command is within the range of the low-speed winding, and switch to the high-speed winding if the
command is within the range of the high-speed winding. In case the desired winding is already selected,
the switching is not required and it takes no time to switch.
(2) After switching, rotate the spindle.
(3) For stopping the spindle, stop the spindle with keeping the selected winding.
(1)
Speed command
(S command) 0 0
Winding switching Low-speed High-speed winding

winding
(2) (3)
Rotation command 0 1 0
(SFR/SRV)
Motor speed 0 0
2.1.2. Speed command change
In case that switching windings is required by changing the spindle speed command during rotation, it is
possible to stop the spindle to switch the windings and then accelerate it to the commanded speed like a
mechanical gear changing method. But this method requires acceleration/deceleration time to switch the
windings. Switching windings during rotation reduces the operation time as follows.
<1> High-speed winding → Low-speed winding
In case of changing the spindle speed command from the high-speed range to the low-speed range,
parameter No.4019 #4 should be set to 1. And the detection level of the speed detection signal (SDT) should
be set to the switching speed.
With these settings, if the switching sequence from the high-speed winding to the low-speed winding is
commanded, the switching operation is not executed until the speed detection signal (SDT) becomes 1 after
deceleration to the detection level of the SDT signal. That means the low-speed winding is not selected
within the speed range of the high-speed winding.
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(1) With referring to the spindle speed command (S command), start to switch to the low-speed winding if the
commanded speed is within the range of the low-speed winding.
(2) The speed detection signal (SDT) becomes 1 after deceleration to the specified speed level, and switching
is executed.
(3) After switching, the spindle decelerates to the commanded speed.
<2> Low-speed winding → High-speed winding
(4) With referring to the spindle speed command (S command), switch to the high-speed winding if the
command is within the range of the high-speed winding.
(5) After switching, the spindle accelerates to the commanded speed.
(1) (4)
Speed command
(S command) 0
Rotation command 1
(SFR/SRV)
(5)
Motor speed (3)
0
Speed detection signal 0 (2) 1 0

(SDT)
Winding switching High-speed Low-speed High-speed

winding winding winding
2.2. Method of switching depending on actual motor speed
This is a method that windings are switched when the actual motor speed reaches the switching speed. The
windings should be switched when the speed detection signal (SDT) changes. The speed detection signal is a
signal which becomes 1 while the actual motor speed is below the specified speed level and becomes 0 while
over the specified speed level. The detection level (parameter No.4023) should be set to the switching speed.
2.2.1. Spindle rotation, spindle stop
(1) Accelerate the spindle by inputting the spindle speed command (S command) and the rotation command.
(2) When the speed detection signal (SDT) changes after the spindle accelerates to the detection level, switch
the windings. After switching, the spindle accelerates to the commanded speed.
(3) For stopping the spindle, switch the windings when the speed detection signal (SDT) changes during
deceleration. After switching, the spindle decelerates to stop.
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(1)
Speed command
(S command) 0
Rotation command 0 1
(SFR/SRV)
(2) (3)
Motor speed
0
Speed detection signal 1 0 1

(SDT)
Winding switching Low-speed High-speed Low-speed

2.2.2. Speed command change
<1> High-speed winding → Low-speed winding
(1) The spindle starts to decelerate by the spindle speed command to the range of the low-speed winding.
(2) Execute the winding switching when the speed detection signal (SDT) changes after deceleration to the
detection level.
(3) After switching, the spindle decelerates to the commanded speed.
<2> Low-speed winding → High-speed winding
(4) The spindle starts to accelerate by the spindle speed command to the range of the high-speed winding.
(5) Execute switching windings when the speed detection signal (SDT) changes after acceleration to the
detection level.
(6) After switching, the spindle accelerates to the commanded speed.
Speed command (1) (4)

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

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2.3. Note
It is possible to execute switching windings both during stop and during rotation, but it should not be
executed during cutting or during position control. The motor does not output torque during switching because
motor current control is interrupted. If windings are switched in such cases, the spindle cannot cut or rotate at
the commanded speed and any alarm may occur.
Select the winding before entering the following control modes and do not switch windings during the
following modes.
• Orientation (Below orientation speed)
• Rigid tapping
• Cs contouring control
• Spindle synchronous control
• Spindle positioning
The speed detection signal (SDT) may change in the following cases. Do not use the SDT signal in the
following cases.
• When the motor speed reaches the detection level of the SDT signal at acceleration in the constant
surface speed control
(In case of constant surface speed control with the low-speed winding, it is possible to avoid from
reaching the detection level of the SDT signal by clamping the speed command using the maximum
spindle speed clamp command (G92, G50).)
• When the motor speed reaches the detection level of the SDT signal by speed fluctuation during
cutting.
Please note that the SDT signal may change in case of changing the speed command by the spindle override.
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(9D5A/E, 9D53/S, 9D70/S, 9D80/O)

PARAMETER MANUAL
New, Add Applicable
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Another
Revision of spindle software 9D5A/E,9D53/S,9D70/S,9D80/O Add 2009.06
TITLE
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01 09.06.01 Morita B-65280EN/07-11
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Revision of αi series Spindle Software (9D5A/E, 9D53/S, 9D70/S, 9D80/O)
1. General

Notes
edition
A06B-6111-Hxxx#H550 16i/18i/21i,
A06B-6112-Hxxx#H550
9D5A A06B-6121-Hxxx#H550
edition E(05)
βiSVSP
A06B-6134-Hxxx#A 0i-B/C
A06B-6134-Hxxx#D Induction spindle motor
A06B-6111-Hxxx#H553 16i/18i/21i,
9D53 A06B-6112-Hxxx#H553
edition S(19) A06B-6121-Hxxx#H553
A06B-6111-Hxxx#H570
9D70 A06B-6112-Hxxx#H570 30i/31i/32i
αiSP
edition S(19) A06B-6121-Hxxx#H570 Induction/ synchronous spindle motor
A06B-6122-Hxxx#H570
A06B-6141-Hxxx#H580 30i/31i/32i，
A06B-6142-Hxxx#H580 16i/18i/21i，
αiSP
edition O(15) A06B-6152-Hxxx#H580 Induction/ synchronous spindle motor
0i-D
Contents of modification 9D5A/E 9D53/S 9D70/S 9D80/O
Motor voltage setting for the optimum orientation function is

improved. (See item 4 for details.) ○ - ○ ○
Shortcut control function for reference position return in servo mode
(Rigid tapping, Spindle positioning) is added. (See item 5 for
details.)
○ ○ ○ ○
○ : Revised item
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4. Improvement of motor voltage setting for optimum orientation function
(1) Overview
In the optimum orientation function, the motor voltage setting is automatically changed to the setting
for velocity mode after the orientation is completed. The motor voltage setting for velocity mode is
generally set to a low value and could not be changed to a higher value for the purpose of rigidity
improvement at orientation stop.
So a function to set the motor voltage to another value after the orientation is completed is added.
(2) Parameter and contents
15i 16i,0i-C 30i,0i-D
Main - - 4607 Motor voltage after optimum orientation completion
Sub - - 4737 Motor voltage after optimum orientation completion
Data unit： %
Data range： 0 to 100
Standard setting： 0
This parameter specifies the motor voltage setting after orientation completion for
the optimum orientation function. When this parameter is set to “0”, the motor
voltage for velocity control mode (parameter No.4083 in case of Main spindle/
High-speed winding) is applied as the motor voltage after the optimum orientation
is completed.
Please set “0” in this parameter generally.
5. Shortcut control function for reference return in servo mode
(1) Overview
The shortcut control function for reference return in servo mode (Rigid tapping, Spindle positioning) is
added. The spindle will be positioned within 180 degrees at reference return from stop.
(2) Parameter and contents
15i 16i, 0i-C 30i, 0i-D #7 #6 #5 #4 #3 #2 #1 #0

Main 3017 4017 4017 NRROEN
Sub 3193 4193 4193 NRROEN
NRROEN Setting of shortcut control function for reference return in servo mode (rigid
tapping or spindle positioning)
0： Shortcut function is disabled
1： Shortcut function is enabled
When this parameter is set to “1” and all of the conditions below are satisfied, the
spindle is referenced by shortcut control in servo mode.
(a) Parameter No.4016#’7 (in case of subspindle: No.4192#7)=0
(b) SST (output signal: Zero-speed signal) =1
(c) NRRO (input signal: Shortcut signal)=1
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Spindle Tandem Control (Velocity Tandem Control)

PARAMETER MANUAL
New, Add Applicable
Correct, Del Date
Basic Function
Optional Spindle Tandem Control is enhanced to add velocity tandem

Add 2009.09
Function control.
Unit
Maintenance
Parts
Notice
Correction
Another
TITLE
01 2009.09.30 K. Takahashi Newly Y. Toyozawa

DRAW. No.
B-65280EN/07-12 CUST.
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1. General ............................................................................................................................................................................. 3
2. Applicable Spindle Amplifier and Spindle Software ............................................................................................................... 4
3. System Configuration............................................................................................................................................................ 5
4. I/O Signals (CNC↔PMC)...................................................................................................................................................... 6
5. Examples of Sequences ..................................................................................................................................................... 10
6. Parameters ......................................................................................................................................................................... 11
7. Block diagram of Velocity Tandem Control .......................................................................................................................... 15
8. Alarm and Status Error........................................................................................................................................................ 16
9. Supplementary explanation 1: Case of using 2 motors that the gear ratio is different, or that the characteristic is different17
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1. General
Spindle Tandem control is a function to get the larger output torque that cannot be
provided by only one motor, by that two spindle motors drive a spindle. And there
are two types as tandem control.
(1) Velocity Tandem control
(2) Torque Tandem control (only case of Induction motor)
In this manual, it is described about the function "Velocity Tandem control" added
newly and some functions of accompanying it. About existing function “Torque
Tandem control”, refer to “5.11 TORQUE TANDEM CONTROL FUNCTION
(OPTIONAL FUNCTION)” in part-I of “FANUC AC SPINDLE MOTOR αi series
PARAMETER MANUAL (B-65280EN)”.
The velocity loop control does not work in the slave axis of torque tandem control,
but it works in case of the velocity tandem control. So the velocity tandem control is
higher than the torque tandem control about the stability of the slave axis.
Therefore, in case of applying Spindle Tandem control, the velocity tandem control
is applied normally,
But the torque-tandem-control must be applied to some limited uses (e.g. wheel
lathes), so that it is inconvenience that the velocity-loop-control of slave axis works.
However, Torque Tandem Control is necessary for a system such as a wheel lathe
that it is inconvenient that the velocity-loop-control of slave-axis works.
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Velocity Tandem Control function
Velocity Tandem Control drives 2 spindle motors which are connected to a spindle,
by the same velocity command.
NOTE
*1 This function was added to the Spindle Tandem Control which is CNC software
option. Therefore, it is based on a basically existing Torque Tandem Control
function about the handling such as PMC operation, etc.
*2 To use this function, SP TYPE B is required.
*3 For the master and slave axes, use the spindle software of the same edition of
9D90 series.
*4 A motor of both axes uses a motor of the same kind. (The combination of 2
induction motors, or of 2 synchronous spindle motors is used.)
*5 The master-axis controls the position-loop and the velocity-loop, and send the
velocity command and the integrator of Velo.-loop to the slave-axis. The slave
axis does only proportional item processing of velocity-loop by using of the
received velocity-command, and slave-axis generates a torque command by
adding the received integrator value to this data.
*6 When the gear ratio of both motors against the spindle are different, the velocity
command of the slave-axis can be converted to speed of a slave motor edge by
a function "scaling of velocity command".
*7 The influence by the backlash between both axes caqn be reduced by that is
got the tension between both motors by the preload function.
*8 When the characteristics of both motors are different, the preload of slave-axis
can be compensated the difference of base speed, by the preload scaling.
*9 This function can be turned ON/OFF by PMC signal. If this function is not
effective, each motor can be operated independently.
*10 This function can be used in the velocity mode, the spindle orientation, the
rigid-tapping, Cs contouring mode.
*11 If the speed range switching function is used, Please do switching of the motor
winding, in the state that both spindle motors stopped
*12 This function cannot be used together with the following functions:
- Spindle synchronous control function
- Spindle switching function
- Position coder signal output function
- Spindle EGB function
- Spindle leaning control function
*13 This function cannot be used in Twin Drive (Two windings motor : Induction
motor only).
*14 No limitation is imposed on master and slave axis assignment.
In the descriptions below, the following assignment is used for convenience:
Master spindle amplifier: First spindle
Slave spindle amplifier: Second spindle
*15 With a sensor to use as a spindle sensor, there is a limit about the detection speed
of the reference signal.
2. Applicable Spindle Amplifier and Spindle Software

Spindle software
Spindle amplifier drawing Series Edition Usable CNC
A06B-6144-Hxxx#H590 (200V line)
9D90 02 or later FS30i / FS31i
A06B-6154-Hxxx#H590 (400V line)
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3. System Configuration
NOTE
1 For connection details of each cable, refer to “FANUC SERVO
AMPLIFIER αi series DESCRIPTIONS (B-65282EN)”.
2 The common power supply (PS) emergency stop signal
(connector CX4) needs to be input for each common power
supply (PS).
Sample configuration 1:
System where the master spindle and slave spindle are mechanically connected or disconnected when a workpiece is
attached or detached
Spindle motor
(master)
αiM/αiMZ sensor
CNC JA7B JYA2
1st spindle
(master)
SP TYPE B
JA7A
Chuck
JX4
Inter-spindle amplifier connection Workpiece
JX4
JA7B JYA2 Chuck
2nd spindle
(slave)
SP TYPE B
αiM/αiMZ sensor
Spindle motor
(slave)
NOTE
(1) When the master and slave are mechanically disconnected, tandem control
cannot be used. In this case, cancel the tandem operation mode.
(2) If the using motor is synchronous spindle motor BiS series, the power
cables between SP amplifier and motor must be connected via sub module
SM (SSM).
(3) If the using motor is synchronous spindle motor BiS series, when the pole
detection is executed, remove the mechanical connection between both
motors and the motor must become the free state.
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(2) Sample configuration 2:
System where the table axis is driven by two motors
Spindle motor
(master)
CNC JA7B JYA2 αiM sensor
1st spindle
(master)
SP Type B Gear
JA7A JYA4
JX4
αiBZ sensor
Spindle
Inter-spindle
amplifier connection
JX4
JA7B JYA2 αiM sensor
2nd spindle Gear

(slave)
SP Type B
Spindle motor
(slave)
NOTE
Synchronous spindle motor BiS series is built-in spindle motor, this motor
can not be applied to the system like a above.
4. I/O Signals (CNC↔PMC)
NOTE
(1) A command for the spindles engaged in tandem operation is issued to the
master spindle amplifier.
The input signal specifications are the same as for ordinary spindles (for
which the tandem function is not used).
For details of signals used in each control mode, see Chapter 3 in Spindle
Parameter description (B-65280EN), “I/O SIGNALS”, in Part I.
(2) During tandem operation, no signal needs to be input from the PMC to the
tandem function slave spindle amplifier. Those signals that are required to
drive the slave spindle amplifier are transferred from the master spindle
amplifier by inter-spindle amplifier communication.
(3) During tandem operation, use a signal output from the master spindle
amplifier for sequence determination (such as speed arrival determination
and alarm detection). (No signal output from the slave spindle amplifier is
needed.)
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(1) Input signals (PMC→CNC)
30i #7 #6 #5 #4 #3 #2 #1 #0
st
1 G070 CTH1A CTH2A
nd
2 G074 CTH1B CTH2B
CTH1A,CTH2A Clutch/Gear siganl (for the first spindle)
CTH1B,CTH2B Clutch/Gear siganl (for the second spindle)
0,0 : HIGH GEAR
0,1 : MEDIUM HIGH GEAR
1,0 : MEDIUM LOW GEAR
1,1 : LOW GEAR
These signals are set according to the clutch or gear status. And these signals
are used for selecting spindle control parameters.
NOTE
When the velocity tandem is used, please be careful to the following points.
・ In the Velocity Tandem Control mode, the gear signals (CTH1/CTH2)m for the
master axis are valid for both the master and the slave axis. Gear signals for
the slave axis are linked with the gear signals (CTH1/CTH2)m for the master
axis by internal process. (Prevention against false input of the gear signals)
・ Concerning parameters selected by the gear signals in the velocity tandem
control mode, the same parameter numbers must be used for each axis.
・ In the normal mode (the velocity tandem control mode is off), the gear signals
(CTH1/CTH2)m and (CTH1/CTH2)s are valid for the master axis and the slave
axis respectively.
・ In the velocity tandem control mode, though the gear signals (CTH1/CTH2)s
are invalid, there is no problem if the gear signals (CTH1/CTH2)s are input as
the same as the gear signals (CTH1/CTH2)m for the master axis.
・ The velocity unit parameter N4006#2 of both axes must be set the same value.
30i #7 #6 #5 #4 #3 #2 #1 #0
st
1 G071 SOCNA
2nd G075 SOCNB
SOCNA Soft start/stop signal (for the first spindle)
SOCNB Soft start/stop signal (for the second spindle)
0 : Disables the soft start/stop function.
1 : Enables the soft start/stop function.
These signals enable or disable the soft start/stop function.
Use these signals when limiting the specified acceleration rate to reduce a
mechanical shock during acceleration/deceleration.
During tandem operation (SLVx = 1), the signals need not be input to the slave
spindle amplifier.
NOTE
*1 If the soft start/stop function is used, its acceleration rate is set to the
parameter 4030.
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30i #7 #6 #5 #4 #3 #2 #1 #0
st
1 G073 MPOFA SLVA
nd
2 G077 MPOFB SLVB
SLVA Tandem operation command (for the first spindle)
SLVB Tandem operation command (for the second spindle)
0 : Makes a request to disable tandem operation.
1 : Makes a request to enable tandem operation.
These signals enable or disable tandem operation.
When using the tandem function, set these signals to 1 for both of the master
and slave.
NOTE
(1) Both of the master and slave must be stopped before these signals can be
switched.
During rotation, these signals cannot be accepted.
(2) Switch these signals in the speed control mode. In a mode other than the
speed control mode, these signals cannot be accepted.
(3) When the master and slave are mechanically disconnected with each
other, do not set these signals to 1.
(4) If the using motor is synchronous spindle motor, this signal SLV must be
entered in the pole detection completed state EPFIXx=1 (1st SP: F048#7,
2nd SP: F052#7), of both motors. If the pole detection state is lost, SLV
signal must be turned off.
MPOFA Motor power turn-off signal (for the first spindle)

MPOFB Motor power turn-off signal (for the second spindle)
0 : Normal operation
1 : Turns off the power to the motor.
These signals turn off the power to the motor.
During tandem operation (SLVx = 1), these signals need not be input to the
slave spindle amplifier.
注
(1) If an error such as an excessive master-slave speed difference is detected
when tandem operation is enabled, the power to both of the master motor
and slave motor must be turned off simultaneously to minimize damage to
the machine. In such a case, be sure to turn off the power to both motors
by using these signals.
(2) If the using motor is synchronous spindle motor, the motor decelerates by
SSM and stops, it is not to stop by the free run.
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(2) Output signals (CNC→PMC)
30i #7 #6 #5 #4 #3 #2 #1 #0
st
1 F045 SSTA
2nd F049 SSTB
SSTA Speed zero detection signal (for the first spindle)
SSTB Speed zero detection signal (for the second spindle)
0 : The spindle motor is rotating.
1 : The spindle motor is in the speed zero (stopped) state.
After checking that these signals are set to 1 with both of the master and slave,
switch the tandem operation command SLVx.
When these signals are set to 0, the tandem operation command cannot be
accepted.
30i #7 #6 #5 #4 #3 #2 #1 #0
st
1 F046 SLVSA
nd
2 F050 SLVSB
SLVSA Tandem operation state signal (for the first spindle)
SLVSB Tandem operation state signal (for the second spindle)
0 : Tandem operation is disabled.
1 : Tandem operation is enabled.
After checking that these signals are set to 1 with both of the master and slave,
issue a command to the master spindle amplifier.
30i #7 #6 #5 #4 #3 #2 #1 #0
st
1 F047 MSOVRA
nd
2 F051 MSOVRB
MSOVRA Master-slave speed difference state signal(for the first spindle)
MSOVRB Master-slave speed difference state signal (for the second spindle)
0 : The speed difference between the master and slave is less than the set
value.
1 : The speed difference between the master and slave is equal to or greater
than the set value.
These signals indicate whether the speed difference between the master motor
and slave motor is less than the value set in the parameter (No4347). The signal
for the slave spindle amplifier need not be monitored. (At all times, 0 is output.)
CAUTION
*1 If a motor feedback signal disconnection alarm (spindle alarm 73) is
issued, the status of this signal is undefined.
*2 When bit 5 of parameter No. 4007 is set to "1", the detection operation
of the feedback signal disconnection alarm is not performed.
Set the parameter to "0" when not required, to enable alarm detection.
NOTE
Monitor the states of these signals on the PMC. Ensure that an alarm is
issued if an error occurs (for example, if the state of 1 lasts for a certain
period of time).
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5. Examples of Sequences
The sequence in Velocity Tandem control is based on it of Torque Tandem

Control.
Only the sequence in velocity mode is shown in this chapter, please refer to “5.11
TORQUE TANDEM CONTROL FUNCTION (OPTIONAL FUNCTION)” in part-Ι of
PARAMETER MANUAL (B-65280EN), about other modes (Spindle orientation,
Rigid tapping and Cs contouring control).
NOTE
In a tandem control mode, please confirm by PMC that a gear signal state of
both axes is the same, before inputting a command.
(Example 1) Speed control mode
Speed zero detection

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

state
SLVSA&SLVSB
Spindle speed Sxxxx (≠0)

command
S code
S0
Master spindle
amplifier spindle
rotation command
SFRA&SRVA
Motor speed
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6. Parameters
(1) Details of Parameters
30i #7 #6 #5 #4 #3 #2 #1 #0
4009 ALSP
ALSP Motor power turn-off method when spindle alarm 24 (serial data transfer error)
is issued
0 : Turns off the power after the motor is decelerated to a stop.
1 : Turns off the power immediately. (Set this parameter to 1.)
NOTE
If an alarm is issued during tandem operation, the power to both of the master
motor and slave motor must be turned off simultaneously to prevent the
machine from being damaged. When using the tandem function, be sure to
set this parameter to 1 to turn off the power to the motors immediately if a
CNC-SP communication error occurs.
30i #7 #6 #5 #4 #3 #2 #1 #0
4015 SPDTDM
SPDTDM Whether to use the spindle tandem function (The CNC software option is
required.)
0 : Does not use the spindle tandem function.
1 : Uses the spindle tandem function.
NOTE
If this bit is set to 0, the tandem function does not operate normally. When this
bit is set to 0, check the software option.
30i #7 #6 #5 #4 #3 #2 #1 #0
4352 MASTER SLAVE
SLAVE Inter-spindle amplifier communication slave axis setting
0 : Non-inter-spindle amplifier communication slave axis
1 : Inter-spindle amplifier communication slave axis
MASTER Inter-spindle amplifier communication master axis setting

0 : Non-inter-spindle amplifier communication master axis
1 : Inter-spindle amplifier communication master axis
Inter-spindle amplifier communication can be enabled by these setting.

Set MASTER/SLAVE to “1,0” for master-axis, and to “0,1” for slave-axis.
NOTE
If these bits “MASTER/SLAVE” are “1,1”, spindle status error “38” will
be generated.
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30i #7 #6 #5 #4 #3 #2 #1 #0
4353 RVSVC2 VFBAV
VFBAV Velocity feedback signal setting in tandem operation
0 : For speed control, the master axis motor speed only is used.
1 : For speed control, the average speed of the master axis motor speed and
slave axis motor speed is used.
By exercising speed control using the average speed feedback value of the
master and slave, vibration caused by spindle backlash may be suppressed.
RVSVC2 Relationship of master/slave motor rotation directions in tandem operation

0 : Both motors rotate in the same direction at spindle rotation time (as
viewed from the motor shaft).
1 : Both motors rotate in the opposite directions at spindle rotation time (as
viewed from the motor shaft).
This parameter sets the polarity for velocity command and actual motor speed
in tandem operation.
NOTE
*1 This parameter need not be set for the slave spindle amplifier side. (The
setting for the master spindle amplifier is transferred to the slave spindle
amplifier by inter-spindle amplifier communication.)
*2 If the setting of this parameter is improper, the tandem function does not
operate normally.
If the spindle is rotated in this state, the speed polarity error alarm (spindle
alarm d0) is issued in tandem operation.
30i #7 #6 #5 #4 #3 #2 #1 #0
4398 A130DN WSVCP VTAN WNDTDM
WNDTDM Twin drive (Two windings motor drive: Induction motor only)
VTAN Velocity Tandem Control
WSVCP Velocity Loop Integrator Copy Function
If the following 6 bit-parameters are set as follows, the velocity tandem control
can be used. These setting of both axes must be set to the same value.
TANDMP TDEOPT WSVCP VTAN WNDTDM SPDTDM Enabled function

0 0 0 1 ０ 1 Velo. Tandem control
Velo. Tandem control
0 0 1 1 ０ 1
+ Integrator copy function
1 1 0 1 ０ 1
+ Tandem Disturbance Elimination control
1 1 1 1 ０ 1 + Integrator copy function
Note) WNDTDM is used for the two windings motor (Induction motor only ).
But you can’t use this function with two windings motor. Therefore please
set WNDTDM=0.
NOTE
If these setting of both axes is different, spindle status error “38” will be
generated.
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A130DN Whether to detect a speed polarity error (spindle alarm d0) in tandem operation
0 : Detects the error.
1 : Does not detect the error.
30i
4347 Master-slave speed difference state signal output setting

Unit of data : 1min-1 *(10min-1 when bit 2 (SPDUNT) of parameter No. 4006 is set to 1)
Valid data range : 0 to 32767
This parameter sets a level for detecting the master-slave speed difference state
signal (MSOVRA:F47#2, MSOVRB:F51#2).
If this parameter is set to 0, the setting of 100 is assumed.
30i
4360 Preload value

Unit of data : ±16384 equivalent to a torque command of 100%
Valid data range : -8192 to 8192(-50% to +50%)
This parameter sets a preload value.
This parameter may suppress stop-time vibration caused by backlash.
NOTE
*1 If N4360 of slave-axis is 0, the slave-axis preload is decided by N4360 of master
axis, its polarity is decided by N4360 & N4353#2 of master axis.
*2 If N4360 of slave-axis is not 0, the slave-axis preload including its polarity is
decided by this parameter.
As shown in a block diagram of chapter 7, a preload torque is added in any case.
So, set the preload torque directions as follows:
When the rotation directions of both motors are the same: Different signs
When the rotation directions of both motors are different: Same sign
*3 In case of using 2 motors that the characteristic is different, the slave-axis preload
must be set by considering maximum torque “Tmax” ratio of both motors.
Preload absolute value of slave-axis
= (master Tmax / slave Tmax) * Preload absolute value of master-axis
30i #7 #6 #5 #4 #3 #2 #1 #0
4541 NSSTTD DIFRED DIFMTC
DIFMTC In the velocity tandem operation, the preload scaling function of slave-axis is:
0 : Not used.
1 : Used.
In case of using 2 motors that the characteristic is different, this function
compensates the slave-axis preload by considering the difference of base-speed,
and the actual preload of slave-axis will be close to it of master-axis.
If this function is used, this parameter DIFMTC is set to the slvae-axis
NOTE
*1 If this function is used, the preload N4360 of slave-axis must be set.
*2 Please confirm chapter 9 “Supplementary explanation 1: Case of using 2
motors that the gear ratio is different, or that the characteristic is different”.
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DIFRED In the velocity tandem operation, the velocity command scaling function of
slave-axis is:
0 : Not used.
1 : Used.
In case of using 2 motors that the gear ratio of both motors against a spindle is
different, the velocity command of slave-axis in tandem operation can be
converted to a speed of considering its difference, by this function.
If this function is used, this parameter DIFRED must be set to both axes.
NOTE
*1 Please confirm chapter 9 “Supplementary explanation 1: Case of using 2
motors that the gear ratio is different, or that the characteristic is different”.
NSSTTD Setting about acceptance condition of tandem command signal SLV

0 : Check SST(Speed zero siganl) siganl
(The SLV signal cannot be accepted when the motor is rotating.)
1 : Not check SST(Speed zero siganl) siganl
(The SLV signal can be accepted even if the motor is rotating.)
30i
4606 Preload time constant

Unit of data : 100msec
This parameter is set a time constant for the rising of available preload in the
Spindle Tandem Control.
If this parameter is 0, Spindle amplifier set 32msec as this time constant.
NOTE
*1 If the preload (No.4360) is set in the Spindle Tandem mode, the mechanical shock
may occur at the time of the rising of a preload after that both axes became an
exciting state. In this case, the mechanical shock may be reduced by the setting of
this parameter.
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7. Block diagram of Velocity Tandem Control
It is a figure of outline block at the time of speed tandem control as follows.
(1) Master-axis sends the velocity command, the integrator and the preload to
slave-axis. The polarity of these data is decided by the connection-type
parameter (N4353#2 of master-axis).
(2) Slave-axis does only proportional item processing of velocity-control by
using of the received velocity-command (If the velocity integrator copy is
not effective (N4398#5=0), the slave-axis also executes the integrator item
processing.).
And slave-axis generates a torque command by adding the received
integrator value & the preload value to this data.
Master-axis Velocity feedback

Velocity
Command Torque
-
Command(%)
+ Velo.loop Torque
Position P/I limit motor
Pos. +
Command
loop +
＋ Velocity
－ Command Preload
Integrator(I) N4360
Spidle
Polarity (N4353#2) sensor Spindle
Communication between SP-AMPs
Slave-axis
+
+
Velocity
Command +
Velo.loop + Torque
P only limit motor
+
Torque
-
Command(%)
Velocity feedback
(*) Each torque command is a ratio that assumed the maximum torque 100% of each motor.
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8. Alarm and Status Error
(1) Spindle alarm

Alarm No. Description Measure
An inter-spindle amplifier communication error
66 Check the connection of the cable (JX4).
occurred.
An alarm was issued on the destination spindle Correct the cause of the alarm on the
80
amplifier of inter-SPM communication. destination spindle amplifier.
The relationship between the speed polarity of
Check the rotation direction relationship setting
d0 the master motor and the speed polarity of the
(FS30i: No. 4353#2).
slave motor is abnormal.
(2) Spindle amplifier status error

Error No. Description Measure
A tandem operation command was input when Input a tandem operation command after
21
spindle synchronous control is enabled. canceling spindle synchronous control.
Spindle synchronous control was specified Specify spindle synchronous control after
22
when tandem operation is enabled. canceling tandem operation.
A tandem operation command is input even if Tandem control requires the CNC software
23
the option is not specified. option. Check the option.
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9. Supplementary explanation 1: Case of using 2 motors that the gear ratio is different, or that the
characteristic is different
The following is supplementary explanation in case of using 2 motors that the
gear ratio is different, or that the characteristic is different.
In this case, the velocity tandem is controlled as the next block diagram.
Outline of block diagram of tandem operation
Master-axis Velocity feedback

Velocity
Command Torque
- Command(%)
+ Velo.loop Torque
Position P/I limit motor
Command Pos. +
loop Velocity +
+ Integrator(I)
Command
-
Polarity (N4353#2) Preload
Gear-ratio s
Communication between SP-AMPs Spidle Spidle
Gear-ratio m
sensor
Slave-axis Preload
scaling
+
Velocity +
Command +
Velo.loop + Torque
P only limit motor
+
Torque
-
Command(%)
Velocity feedback
(*) Each torque command is a ratio that assumed the maximum torque 100% of each motor.
(1) Slave axis is receives the velocity command and the integrator from master
axis. In the slave-axis, only proportional item of velocity loop is controlled,
and generates a torque command by adding the received integrator value &
the preload value to this data.
The polarity of the velocity command & the integrator that the slave axis
received from the master axis, is decided by N4353#2 of the master axis.
(2) When the gear ratio of both motors against the spindle is different, the velocity
command of the slave-axis can be converted by a function "scaling of velocity
command" as follows. In the next formula, “m” and “s” of subscripts show the
master-axis and the slave-axis.
[Conversion formula in scaling of velocity command]
(Velo.command)s = (Gear ratio)s * (Velo.command)m / (Gear ratio)m
The using gear ratio data’s for the above formula are the parameter values
that master axis and slave axis selected from parameter N4056-N4059
independently.
In addition, the inner gear-signals (CTH1/CTH2) of the slave axis are copied
from the master axis in the state of velocity tandem control, so it of the slave
axis links to the master-axis. So, the slave axis uses the gear signals (CTH1/
CTH2)m which were received from the master axis.)
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Master-axis Slave-axis
Gear ratio PRM Gear ratio PRM
Select Select
N4056 N4056
N4057 N4057
Use Use
N4058 Gear ratio N4058 Gear ratio
N4059 N4059
Inner CTH1,2
In Velo. tandem
In non-Velo.tandem
Gear signal CTH1,2 of master-axis Gear signal CTH1,2 of slave-axis
NOTE
When a function “scaling of velocity command” is used, please be careful to
the following points.
* The gear signals (CTH1/ CTH2)m for the master axis are valid for both the
master axis and the slave axis, and gear ratio parameters (No.4056-4059) for
each axis are selected by the gear signals for the master axis.
* With using gear ratio parameter that was selected as above, both axes work
by sharing for the scaling of velocity command. The sending side sends the
velocity command and actual speed which were converted to the spindle edge,
and the receiving side converts the received data’s to the motor edge speed.
By this processing, the slave-axis can get the motor edge speed. And because
its processing is executed such as above, the velocity command of using on
the slave-axis may include some errors.
* If the calculated velocity command in the slave axis exceeds maximum speed
parameter N4020 of slave-axis, its velocity command is limited by N4020
* Speed unit parameter N4005#2 of both axes must be the same setting.
(3) In case of using 2 motors that the gear ratio is different, or that the c
haracteristic is different, use the motor that maximum torque is smaller
than it of the master-axis, as the slave-axis motor.
(4) Here, show a conception diagram of motor output torque and total torque.
NOTE
The following conception diagram (figure -1) is the thing which showed how
torque of two motors is added up, the efficiency of a machine should be
considered for the total torque. And so, the total torque should be estimated
smallish by considering efficiency η (0 to 100%).
Torque
Total torque
η*(Mmax＋Smax)
Mmax: Max. torque of master-axis (Max. at accelaration)
ωmb : Master-axis base speed at Max.torque
Mmax Master torque Smax: Max. torque of slave-axis (Max. at accelaration)
ωsb : Slave-axis base speed at Max.torque
Slave torque
Smax
[Fig-1]
ωsb ωmb SPEED
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(5) There is assumption that the ratio of maximum torque and rated torque of
both axes motor is almost same (Fig-). Therefore, the unbalance of motor
output share for the rated torque may occur when this torque ratio is different
largely.
In addition, true torque of each motor seems Fig-3 and is different when
Base speed of both motors is different even if the torque ratio is the same like
Fig-2. Therefore, the characteristic of total torque will seem to become an
example Fig-1, and the total output characteristic will seem to become an
example of Fig-4.
[Torque command]
Torque command 100%:
[Master-axis output] [Slave-axis output]
equivalent to Max.output
Max.90kW 100% 100%
Torque command:
equivalent to Rated.output [e.g 70%] Max. 45kW
Rated60kW(67%)
連続 30kW(67%)
[Fig-2] A B A B
SPEED
Actual torque Rated Maximum [Total output]
Master axis
Max.torque Slave axis Max.135kW
100%
Rated torque
[Fig-4] Rated90kW
A(=ωsb: Slave-axis base speed)

B(=ωmb: Master-axis base speed)
[Fig-3] ωsb ωmb SPEED
A B
(6) The preload is the function that give the tension between both motors by
adding the opposite torque to both motors, and that reduce the influence by
the backlash between both axes.
Master-axis Slave-axis
+Pm -Ps
Spindle
rotation
Drive Drive
direction
torque torque
(+)
The above figure shows the relationship of a

preload, a drive torque and a rotation direction. But
please refer to Fig-6 for an explanation of preload.
For example, torque is generated like figure -5 when the master-axis preload
is "+Pm", the slave-axis preload is "-Ps".
If a large torque is required like acc./dec, a torque of the same direction is
produced with the two motors. (Load sharing mode)
If no torque is required, for example, during stop state, preload torques
produce tension between the two axes. (Anti-backlash mode)
This function cannot be applied to the system that the anti-backlash mode is
always need.
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Slave-axis Master-axis
-Ps +Pm
Stopped Spindle
Drive torque Master-axis Drive torque

Slave-axis
-Ps +Pm
Accelerated
Spindle
Direction of
movement
Master-axis
Slave-axis
Drive torque Drive torque
-Ps +Pm
At constant Spindle
speed Direction of
When Friction torque < Preload torque movement
Spindle
When Friction torque > Preload torque Direction of
movement
Drive torque Drive torque Master-axis

Slave-axis
-Ps +Pm
Decelerated Spindle
Direction of
movement
[Fig-5: Changes of torque during movement]
(7) The following attention is necessary about setting of this pre-road.

The preload of both motors should be set by considering the ratio of motor
max. torque, for making actual torque of both motors to the same degree. So
the preload of both motors should be set as the next formula. In the next
formula, “m” and “s” of subscripts show the master-axis and the slave-axis.
(Preload %)m * (Max.torque Nm)m = (Preload %)s * (Max.torque Nm)s

In addition, the polarity of preload should be set as follows.
The preload torque is added to torque command, as block diagram in first
page of this chapter. Therefore, please set the preload as follows according to
the relationship of rotation direction of both motors when spindle rotates.
Setting example) E.g. in the machine that both motors rotate to the same direction when a
spindle rotates, Max. torque of master axis is 100Nm, Max. torque of slave
axis is 80Nm, and if 5Nm preload is need, set the preload parameter as
follows.
Preload of master axis:
5Nm Î 5% preload Î N4360m = 16384*5/100 = 819
Preload of slave axis:
Set “-“ as polarity because the rotation direction of both motors is the
same.
N4360s = - 100 / 80 * 819/16384 * 16384 = -1024 (-6.25%)
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(8) If base speed of both motors is different, the slave-axis can do the scaling to
revise the difference. Please refer to Fig-6.
Torque command
[Fig-6]
Max.torque 100%
Preload after scaling Ps’ = (ωmb/ωsb)*Ps

Slave-axis
Set Pm and Ps by considering the ratio Preload Ps % Preload without scaling Ps
“Mmax/Smax” of motor max. torque.
Master-axis
Ps = (Mmax/Smax) * Pm
Preload Pm %
If base speed of both motors is different, SPEED ω
the slave-axis preload is compensated
by scaling so that Tps becomes Tpm. Actual torque
Master-axis
Ps’ = (ωmb/ωsb) * Ps Master-axis
Slave-axis
Tps’ (=Tpm)= (ωmb/ωsb) * Tps Max.torque Mmax
SLave-axis
Max.torque Smax
Master-axis preload Tpm
Slave-axis preload Tps
ωsb ωmb SPEED ω
(9) If the preload is set, the torque command (load value) of both motors is
different during the tandem mode. Therefore, confirm the DGN410 (load
-meter display) in diagnostic screen and both motors should be used within
the rated output.
In addition, the total of actual torque is different by the difference of rotation
direction even if the total of the load of both motors is the same. Its reason is
caused by that the torque command of each motor is different by the
difference of rotation direction, and that the maximum torque of each motor
is different. Please refer to the following example.
E.g.) Mmax: Max. torque of master-axis, Smax: Max. torque of slave-axis
TD: Drive torque (%)
Pm: Preload of master-axis (%), Ps: Preload of slave-axis (%)
(Torque command of master) = TDm + Pm = TD + Pm
(Torque command of slave) = TDm(received integrator) - Ps
= TD – (Mmax.Smax)*Pm
Case of Pm=10% When + rotation When - rotation

Master axis conversion Master axis conversion
Smax/Mmax=2/3, Tcmd (Load) acual torque (%) Tcmd (Load) acual torque (%)
Master-axis 70(%) =60+10 70(%) -45(%)=-55+10 -45(%)
Slave-axis 45(%)=60-15 30(%)=45*(2/3) -70(%)=-55-15 -46.7(%)=-70*(2/3)
Total 115(%)=70+45 100(%)=70+30 -115(%)=-45+(-70) -91.7(%)=-45+(-46.7)
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Spindle Tandem Disturbance Elimination Control

PARAMETER MANUAL
New, Add Applicable
Correct, Del Date
Basic Function
Optional
Tandem disturbance elimination control for spindle is added. Add 2009.09
Function
Unit
Maintenance
Parts
Notice
Correction
Another
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Tandem Disturbance Elimination Control

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1. General ............................................................................................................................................................. 3
2. Applicable Spindle Amplifier and Spindle Software.......................................................................................... 3
3. System Configuration ....................................................................................................................................... 4
4. I/O Signals (CNC↔PMC)................................................................................................................................. 5
5. Examples of Sequences .................................................................................................................................. 7
6. Parameters....................................................................................................................................................... 8
7. Block diagram................................................................................................................................................. 12
8. Tuning ........................................................................................................................................................... 13
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1. General
This function is used to suppress the vibration caused by the interference force
between two axes, which are driven by Position Tandem Control (Simple Spindle
Synchronous Control) or Velocity Tandem Control.
This function becomes effective, only when a PMC signal, which shows the status of the
axes connection, becomes “1” that means two axes are connected.
NOTE
1. This function is equivalent to the Tandem Disturbance Elimination Control of servo
software. The same CNC software option as servo software is required.
2. This function can be used together with the Velocity Tandem Control.
3. This function cannot be used together with the Spindle EGB.
4. This function cannot be used in Twin Drive (Two windings motor : Induction motor
only).
5. This function can be used in one pair of master axis and slave axis, whose
amplifiers are linked by inter-SP amplifier communication
6. Please prepare spindle amplifier type-B and the communication cable to link
between two amplifiers to use inter-SP amplifier communication.
7. When both axes are disconnected mechanically, it is necessary to turn off this
function. In this case, please turn off the DI signal SLV(tandem command signal).
2. Applicable Spindle Amplifier and Spindle Software

CNC software
CNC software
CNC Series Series Edition
FS30i-A G004/G014/G024/G034 14.0 or later
FS31i-A5 G124/G134 14.0 or later
FS31i-A G104/G114 14.0 or later
FS32i-A G204 14.0 or later
Spindle software
Spindle software
Spindle amplifier drawing Series Edition
A06B-6144-Hxxx#H590 (200V line)
9D90 02 or later
A06B-6154-Hxxx#H590 (400V line)
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3. System Configuration
We assume the following system, in which 2 spindle motors synchronously drive one
object and the rigidity of those two motors are relatively high. In such configuration,
the interference force between two axes might cause the vibration. Tandem
Disturbance Elimination Control is useful for such machines.
Spindle motor
(master)
αiM/αiMZ sensor
CNC JA7B JYA2
1st spindle
(master)
SP TYPE B
JA7A
Chuck
JX4
Inter-spindle amplifier Workpiece

communication
JX4
JA7B JYA2 Chuck
2nd spindle
(slave)
SP TYPE B
αiM/αiMZ sensor
Spindle motor
(slave)
NOTE
(1) When the master and slave are mechanically disconnected, tandem control
cannot be used. In this case, please cancel the tandem operation mode.
(2) If the system uses the synchronous spindle motor BiS series, the power
cables between SP amplifier and motor must be connected via sub module
SM (SSM).
(3) If the system uses the synchronous spindle motor BiS series, when you
execute the pole detection, please release the mechanical connection
between both motors to be free. In this case also, please cancel the tandem
operation mode.
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4. I/O Signals (CNC↔PMC)
(1) Input signals (PMC→CNC)
30i #7 #6 #5 #4 #3 #2 #1 #0
st
1 G073 MPOFA SLVA
2nd G077 MPOFB SLVB
SLVA Notice signal of mechanical connection (for the first spindle)
SLVB Notice signal of mechanical connection (for the second spindle)
This signal notifies whether both spindles are connected or not mechanically, to
both spindle amplifiers.
The mechanical state is
0 : Disconnected.(Tandem Disturbance Elimination Control becomes disable.)
1 : Connected.(Tandem Disturbance Elimination Control becomes enable.)
NOTE
This signal is used for tandem command-signal in tandem operation. And this
signal is also used for Tandem Disturbance Elimination Control operation.
(1) When you set SLVx=1 to both axes, please confirm mechanical connection
after confirming SSTx=1 (speed zero state) of both axes under commanding
“0” to position command or velocity command.
(2) Before you set SLVx=0 to both axes, please confirm SST=1(speed zero state)
of both axes under commanding “0” to position command or velocity
command. Please release the mechanical connection after input SLVx=0.
NOTE
1. Please don’t set this signal to “1” when both motors are disconnected
mechanically.
2. If the synchronous spindle motor is used, please set this signal after the
completion of the pole detection.
3. When you change this signal SLVx, please confirm that the position command
or the speed command of both axes are 0, and confirm SST=1(speed zero
state).
4. When you execute the zero return operation in the position tandem mode (by
the Simple Spindle Synchronous Control), please execute the operation
independently in the state of SLVx=0.
5. When you use parking signal in the position tandem mode (by the Simple
Spindle Synchronous Control), please turn off this function by resetting
SLVx=0.
MPOFA Motor power cut-off signal (for the first spindle)

MPOFB Motor power cut-off signal (for the second spindle)
0 : Normal operation
1 : Cut off the power to the motor.
NOTE
1. If an error such as an excessive master-slave speed difference is detected
when tandem disturbance elimination control is enabled, please cut off the
power of both master motor and slave motor simultaneously by this signal to
minimize the damage to the machine.
2. When you use the synchronous spindle motor, the motor decelerates by SSM
after input this signal. It doesn’t become the free run.
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(2) Output signals (CNC→PMC)
30i #7 #6 #5 #4 #3 #2 #1 #0
st
1 F045 SSTA
2nd F049 SSTB
SSTA Speed zero detection signal (for the first spindle)
SSTB Speed zero detection signal (for the second spindle)
0 : The spindle motor is rotating.
1 : The spindle motor is in the speed zero (stopped) state.
After checking that these signals are set to 1 in both master and slave, please
change the notice signal SLVx for mechanical connection.
When these signals are 0, the change of notice signal SLVx cannot be accepted.
30i #7 #6 #5 #4 #3 #2 #1 #0
st
1 F046 SLVSA
nd
2 F050 SLVSB
SLVSA Answer signal of mechanical connection (for the first spindle)
SLVSB Answer signal of mechanical connection (for the second spindle)
The mechanical state is
0 : Disconnected.(Tandem disturbance elimination control is disable.)
1 : Connected.(Tandem disturbance elimination control is enable.)
After checking that these signals are set to 1 in both master and slave, please give
the same command to both spindle amplifiers.
NOTE
This signal is used for tandem command-signal in tandem operation. And this
signal is also used for Tandem Disturbance Elimination Control operation.
30i #7 #6 #5 #4 #3 #2 #1 #0
st
1 F047 MSOVRA
nd
2 F051 MSOVRB
MSOVRA The state signal for speed difference between master and slave (for the first
spindle)
MSOVRB The state signal for speed difference between master and slave (for the second
spindle)
0 : The speed difference between master and slave is less than the setting value.
1 : The speed difference between master and slave is equal to or greater than the
setting value.
These signals indicate whether the speed difference between master motor and
slave motor is less than the value set in the parameter (No4347) or not. The signal
for the slave spindle amplifier need not be monitored. (At all times, 0 will be
output.)
CAUTION
*1 If the motor feedback signal disconnection alarm (spindle alarm 73) occurs,
the status of this signal will be undefined.
*2 When bit 5 of parameter No. 4007 is set to "1", the feedback signal
disconnection alarm will not be detected.
Set the parameter to "0" basically, please make the alarm detection enable.
NOTE
Please monitor the states of these signals in the PMC to issue an alarm by
something logic. (for example, if the state of 1 keeps for a certain period,
an alarm will be issued).
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5. Examples of Sequences
The following sequence is an example for Tandem Disturbance Elimination control.
(1) Stop both axes by the rotation command 0.
(2) After mechanical connection of both axes, confirm that both axes become
SSTx=1 (speed zero state).
(3) After set signal SLVx to “1” for notice of mechanical connection of both axes, the
answer signal SLVSx will become “1”. And afterward Tandem Disturbance
Elimination Control becomes effective.
(4) In this state, enter the same rotation command (position or speed command) to
both axes.
(5) To disconnect both axes mechanically, set the notice signal SLVx to “0” after
confirming of SSTx=1 (speed zero state) in both axes.
(6) After confirmation of the answer signal SLVSx of both axes becomes “0”,
disconnect both axes mechanically.
Master axis: Rotation command

Command
(Position or Speed)
Speed
(1)
SST of master (2)

(Speed zero)
Slave axis:
Command
Rotation command
Speed
(Position or Speed)
(1)
(2)
SST of slave
(Speed zero)
(3) Confirm SST of both axes becomes “1”, and
command SLV=1 to both axes afterwards.
SLV of master
(5) Confirm SST of both axes becomes “1”,

and command SLV=0 to both axes afterwards.
SLV of slave
SLVS of master
(4) Confirm SLVS of both axes becomes “1”,
and input the rotation command afterwards.
SLVS of slave
Tandem Disturbance Elimination control: effective state
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6. Parameters
The following descriptions are the explanation for the parameters for Tandem
Disturbance Elimination Control.
30i #7 #6 #5 #4 #3 #2 #1 #0
4015 SPDTDM
SPDTDM The Spindle Tandem Control option status (This bit is automatically set depending
on the CNC option. You can’t change it manually.)
0 : The Spindle Tandem Control option does not exist.
1 : The Spindle Tandem Control option exists.
NOTE
If tandem disturbance elimination control is used with the velocity tandem
control, the Spindle Tandem Control option is necessary. (This bit should be
“1”.) If this bit is “0”, please check the software option.
30i #7 #6 #5 #4 #3 #2 #1 #0
4403 TDEOPT
TDEOPT The Tandem Disturbance Elimination Control option status (This bit is
automatically set depending on the CNC option. You can’t change it manually.)
0 : The Tandem Disturbance Elimination Control option does not exist.
1 : The Tandem Disturbance Elimination Control option exists.
NOTE
If this bit is “0”, Tandem Disturbance Elimination Control is invalid. Please
check the software option.
30i #7 #6 #5 #4 #3 #2 #1 #0
4450 TANDMP
TANDMP The Tandem Disturbance Elimination Control is:
0 : Not used.
1 : Used.
This parameter is effective in case of 4403#0(TDEOPT)=1, When you use the
Tandem Disturbance Elimination Control, this parameter must be set to both
master and slave axes.
30i #7 #6 #5 #4 #3 #2 #1 #0
4398 WSVCP VTAN WNDTDM
WNDTDM Twin drive (Two windings motor drive: Induction motor only)
VTAN Velocity Tandem Control
WSVCP Velocity Loop Integrator Copy Function
Regarding above bits, by setting the combination shown in the next page, you can
use the Tandem Disturbance Elimination Control.
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The setting pattern(1) and (2) are for the velocity tandem control, and the setting
pattern (3) and (4) are for the position tandem mode (with the Simple Spindle
Synchronous Control).
TANDMP TDEOPT WSVCP VTAN WNDTDM SPDTDM Enabled function

Velocity Tandem Control
(1) 1 1 0 1 ０ 1
+ Tandem Disturbance Elimination Control
Velocity Tandem Control
(2) 1 1 1 1 ０ 1 + Integrator Copy Function
+ Tandem Disturbance Elimination Control
(3) 1 1 0 0 ０ 0 Tandem Disturbance Elimination Control
Integrator Copy Function
(4) 1 1 1 0 ０ 0
Note) WNDTDM is used for the two windings motor (Induction motor only). But
you can’t use this function with two windings motor. Therefore please set
WNDTDM=0.
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30i #7 #6 #5 #4 #3 #2 #1 #0
4352 MASTER SLAVE
SLAVE Inter-spindle amplifier communication slave axis setting
0 : Non-inter-spindle amplifier communication slave axis
1 : Inter-spindle amplifier communication slave axis (Please set only in slave axis)
MASTER Inter-spindle amplifier communication master axis setting

0 : Non-inter-spindle amplifier communication master axis
1 : Inter-spindle amplifier communication master axis(Please set only in master
axis)
NOTE
1. Please set MASTER/SLAVE settings as “1,0” to master-axis, and as “0,1” to
slave-axis.
2. If thase MASTER/SLAVE settings are “1,1”, spindle status error “38” will be
generated.
30i #7 #6 #5 #4 #3 #2 #1 #0
4353 RVSVC2
RVSVC2 Relationship of master/slave motor rotation directions when the motors are
connected
0 : Both motors rotate in the same direction (in the view from the motor shaft).
1 : Both motors rotate in the opposite direction (in the view from the motor
shaft).
This parameter determines the polarity of velocity feedback received from
another motor in Tandem Disturbance Elimination Control.
NOTE
*1 Please set this parameter to master axis. The setting for the master axis is
transferred to the slave axis by inter-spindle amplifier communication.
*2 If the setting of this parameter is improper, Tandem Disturbance Elimination
Control does not work properly.
30i
4601 Tandem Disturbance Elimination Control: Proportional gain Kp
Unit of data :
This parameter might be used for machines with a large friction. But you don’t
have to use it normally.
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30i
4602 Tandem Disturbance Elimination Control: Integral gain Ki
Unit of data :
This parameter compensates the machine spring factor. Please set the value
according to the machine rigidity and the ratio of torque/ inertia. If the machine is
highly rigid, the setting value will be large. And if the ratio of torque/ inertia is
large, the setting value will be large.
30i
4603 Tandem Disturbance Elimination Control: Phase compensation coefficient α
Unit of data :
Valid data range : 0, 51 to 512 (0.1 < α < 1)
This parameter is used with following coefficient T to compensate the control delay.
Setting value “0” means 512 (α=1) internally.
If α is “1”, the phase compensation will not be done.
30i
4604 Tandem Disturbance Elimination Control: Phase compensation coefficient T
Unit of data : 1msec
This parameter is used with above coefficient α to compensate the control delay.
If the interference frequency is 100Hz or more, please try to set α=102 and T=3.
30i
4605 Tandem Disturbance Elimination Control: Incomplete integral time constant τ
Unit of data :
When you increase integral gain Ki, low frequency vibration (10 Hz or less) might
occur. In such case, please decrease the time constant of the incomplete integral
time constant. Please set the parameter value according to the following table.
The setting value “0” means “32767” internally.
Time constant (sec) Parameter setting

0.1 32682
0.05 32596
0.02 32341
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7. Block diagram
The following figure shows the block diagram of Tandem Disturbance Elimination
Control.
(1) It calculates the speed error between own speed and another speed
(2) It executes proportional integrator processing to the calculated speed error.
(3) It executes the phase compensation by its result, and adds the compensation
data to each torque command.
Velo. Torque command

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

Elimination control +
Motor speed Motor

- +
+ Velo. +
loop Torque command
Detailed Block diagram

Motor speed of itself
Tandem disturbance
Elimination control Kp
Compensated output 1+TS + +

1+αTS +＋ -
－ Ki
S
Motor speed of partner axis
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8. Tuning
• By using SERVO GUIDE, please observe torque command (or motor speed) of
both axes.
• If the vibration phase is shifted by 180 degrees, the cause of resonance is
assumed to be interference of both axes.
• Please enable Tandem Disturbance Elimination Control, and adjust integral
gain Ki.
• Please increase the value of integral gain Ki gradually from 0, and observe
vibration. Ki has an optimal value. When the value of Ki is increased
excessively, vibration will become stronger.
• When the velocity loop gain is changed, the frequency of vibration changes. So,
please adjust Ki to minimize vibration.
• If the frequency of vibration exceeds 100 Hz, the effect of Tandem Disturbance
Elimination Control might become small. In such case, please try to set phase
compensation coefficients α and T (set the same value to both axes), the
phenomenon might be improved by this setting.
(Tuning example)
The figures show Torque command, motor speed and vibration frequency when a
vibration is given by Disturbance Input Function to the master axis.
Slave axis: Torque command
Master axis: vibration frequency

120Hz vibration
Slave axis: Speed
Vibration is improved
a little by Ki setting
Vibration is improved by
+phase compensation
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Spindle drive of using more than 4 spindle motors

PARAMETER MANUAL
New, Add Applicable
Correct, Del Date
Basic Function
Spindle drive function of using more than 4 spindle motors by

Optional
spindle tandem control and spindle simple synchronous control Add 2009.09
Function
is added.
Unit
Maintenance
Parts
Notice
Correction
Another
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The spindle drive of using
more than 4 spindle motors

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The spindle drive of using more than 4 spindle motors
1. Overview ................................................................................................................................................3
2. Applicable Spindle software ...................................................................................................................3
3. System configuration..............................................................................................................................4
4. Block diagram.........................................................................................................................................5
5. I/O signal (CNC Ù PMC) .......................................................................................................................6
6. Parameter...............................................................................................................................................9
7. Setting example about Integrator copy ................................................................................................ 11
8. Spindle orientation................................................................................................................................12
NOTE
This document might be revised without notice for improvement of this function in
the future.
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1. Overview
There is the velocity tandem control as the function to get a large output of
spindle by driving 2 spindle motors together. However, if the spindle output is
shortage even by 2 spindle motors, it is necessary to drive more numbers of
spindle motors together by multi velocity tandem pairs. In this case, master
axis of each velocity tandem should be controlled by Simple Spindle
Synchronous Control.
This document describes the contents that drive a spindle by multi velocity
tandem pairs, with using Simple Spindle Synchronous Control together.
So, about the handling, please refer to the following documents.
*) A-63639E-186 (FANUC AC SPINDLE MOTOR αi series Spindle Tandem
Control function)
*) “11.16 SIMPLE SPINDLE SYNCHRONOUS CONTROL” in B-63943EN-1
(Connection Manual (Function))
NOTE
1 This function requires “Spindle Tandem Control” and “Simple Spindle
Synchronous Control” which are CNC option.
Spindle Tandem Control : A02B-xxxx-S648
Simple Spindle Synchronous Control : A02B-xxxx-J748
2 When you use this function, please use spindle motors with same
specifications in all.
3 SP TYPE B is required because of a communication between SPs to
use this function.
4 For the master and slave axes, please use the spindle software of
the same series and edition.
2. Applicable software
CNC software
CNC Series CNC software

Series Edition
FS30i-A G004/G014/G024/G034 16.0 or later (plan)
FS31i-A5 G124/G134 16.0 or later (plan)
FS31i-A G104/G114 16.0 or later (plan)
Spindle software
Spindle software
Spindle amplifier drawing
Series Edition
A06B-6144-Hxxx#H590 (200V line)
9D90 02 or later
A06B-6154-Hxxx#H590 (400V line)
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3. System configuration
The following figure is an example of application of velocity tandem control
to drive spindle by 4 spindle motors with simple spindle synchronous control.
CNC Tandem-1
Velo. command (*1)

SP-1 Motor
(Master) Sensor Motor-1
SP-1 Velocity tandem
Integrator & Integrator copy
(*1)
SP-2 Motor
(Slave) Sensor Motor-2
(*2)Signal
Simple branch (*3)Spindle
Expanded Spindle
Spindle Integrator adapter Sensor
Synchronous Copy
control
Tandem-2
(*1)
SP-3 Motor
(Master) Sensor Motor-3
Velocity tandem
& Integrator copy
(*1)
SP-4 Motor
(Slave) Sensor Motor-4
(*1) Amplifier: A06B-6154-Hxxx#H590

Communication between SPs (*2) Signal branch adapter: A06B-6111-H405
(*3) αiBZ sensor, αiCZ sensor (analog),
α positioncoder S
(1) A spindle is driven by 4 spindle motors.

(2) Simple Spindle Synchronous Control is applied to control both master
spindles (SP-1, SP-3) of 2 tandem pairs.
(3) And the slave axis of Simple Spindle Synchronous Control (SP-3) can use
the velocity-loop integrator from the master axis (SP-1), if you need. We
call it Expanded Integrator Copy
(4) Both slave spindles SP-2&SP-4 of 2 tandem pairs receive the velocity
command & the velocity integrator that each master axis (SP-1 or SP-3)
generates, and use the received data for oneself. (Velocity tandem
control)
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4. Block diagram
The following block diagram is a outline of control at the driving according to
this document.
(1) After velocity command from CNC is given to SP1 and SP3, the
soft-start/stop-function limits a acceleration rate to reduce mechanical shock.
And SP1 (or SP3) transmits its limited command to SP2 (or SP4). Each
spindle executes the velocity control.
(2) SP2&SP3 receive a velocity loop integrator from SP1, and SP4 receive it
from SP3. Each controller generates torque command by adding it to the
proportional term.
(3) Each controller generates a final torque command by adding the preload
that was set by the parameter.
(SP1) Velocity feedback

(CNC)
SOCNA=1 Torque
－ Command(%)
Velo. command Soft Velo.loop Torque
Start/stop ＋ limit
P/I Motor
N4030 ＋
＋
Velo. command Integrator (I) Preload
N4360
Polarity (N4353#2) SLVA
& SLVB
Velocity ＋＋ Preload
ESSYC3 command N4360
ESSYC3
& SLVA SLVA
SLVA & SLVB
& SLVC ＋
& SLVB
Velo.loop Torque
＋ limit Motor
P only
＋ Torque
(SP2) － Command(%)
S
Velocity feedback P
I
N
D
L
(SP3) Velocity feedback
E
SOCNC=1
Torque
Soft － Command(%)
Start/stop Velo.loop Torque
＋ limit
N4030 P only Motor
Simple Spindle +
Synchronous
control
Polarity ++
(N4541#6)
Expansion Velo. command Integrator (I)
Integrator Preload
copy N4360
Polarity (N4353#2) SLVC
& SLVD
Velocity ＋＋ Preload
command
N4360
SLVC
& SLVD
SLVC ＋
& SLVD Velo.loop Torque
＋ limit Motor
P only
＋ Torque
(SP4) － Command(%)
Velocity feedback
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5. I/O signal (CNC Ù PMC)
1) Input signal (PMC Æ CNC)
30i #7 #6 #5 #4 #3 #2 ＃1 #0
st
1 SP G073 SLVA
nd
2 SP G077 SLVB
rd
3 SP G207 SLVC
th
4 SP G269 SLVD
SLVx Tandem operation command for each spindle

0: Makes a request to disable tandem operation
1: Makes a request to enable tandem operation
These signals enable or disable tandem operation.
When using the velocity tandem function, set these signals to 1 for all
4 spindles.
NOTE
1 4 spindles must be stopped before these signals are switched.
During rotation, the change of these signals cannot be accepted.
2 Please switch these signals in the speed control mode. In other mode, the
change of these signals cannot be accepted.
3 If 4 spindles are mechanically disconnected each other, please do not set
these signals to 1.
30i #7 #6 #5 #4 #3 #2 ＃1 #0
Gn064 ESRSYC
ESRSYC Simple Spindle Synchronous Control (of using 1st/2nd spindles) signal.
0: Makes a request to disable Simple Spindle Synchronous
Control
1: Makes a request to enable Simple Spindle Synchronous
Control
When this signal is set to 1, the 2nd spindle becomes the slave axis of
1st spindle in Simple Spindle Synchronous Control.
NOTE
This signal is valid when parameter No.3704#5(SSY) is “0”.
30i #7 #6 #5 #4 #3 #2 ＃1 #0
Gn264 ESSYC4 ESSYC3 ESSYC2 ESSYC1
ESSYCx Simple Spindle Synchronous Control signal for each spindle

0: Makes a request to disable Simple Spindle Synchronous
Control
1: Makes a request to enable Simple Spindle Synchronous
Control
When each of these signals is set to 1, the spindle corresponding to its

signal becomes slave axis of Simple Spindle Synchronous Control.
NOTE
2 These signals are valid only when No.3704#5(SSY) is “1”.
3 Master spindle for the slave axis is specified by the parameter No.4821.
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2) Output signal (CNC Æ PMC)
30i #7 #6 #5 #4 #3 #2 ＃1 #0
st
1 SP F045 SSTA
nd
2 SP F049 SSTB
rd
3 SP F168 SSTC
th
4 SP F266 SSTD
SSTx Speed zero detection signal for each spindle

0: Spindle motor is rotating.
1: Spindle motor is in the speed zero (stopped) state.
After checking that these signals are set to 1 for all of 4 spindles, please
switch the tandem operation command SLVx.
When these signals are set to 0, the tandem operation command cannot
be accepted.
30i #7 #6 #5 #4 #3 #2 ＃1 #0
st
1 SP F046 SLVSA
nd
2 SP F050 SLVSB
rd
3 SP F169 SLVSC
th
4 SP F267 SLVSD
SLVSx Tandem operation state signal for each spindle

0: Tandem operation is disabled.
1: Tandem operation is enabled.
After checking that these signals are set to 1 for all 4 spindles, please
command a simple spindle synchronous control to the slave axis.
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3) Example of Sequence
[Tandem on/off sequence for 4axes drive]
The switching operation of Simple Spindle Synchronous Control and Spindle Tandem Control must be
executed in the state of velocity mode & velocity command zero & speed zero state (SST=1). To reduce
machine shock, please use Soft-start/stop-function (N4030 & G071 # (SOCNA): in the case of 1st spindle)
together in all tandem master axes.
1. Stop all spindles from SP1 to SP4 by S0 command in velocity mode.
2. Confirm that SST (Speed zero signal) of all spindles became “1 (Speed zero state)”.
3. Command the velocity tandem to all spindles of each tandem pair. (command SLVx=1)
4. Confirm that SLVS (Tandem mode signal) of all spindles became “1 (Tandem mode state)”.
5. Next, command Simple Spindle Synchronous Control to slave axis. (ESSYC3=1)
6. Confirm that the parking signal is “0”, and drive the spindle by inputting velocity command.
7. If position control is enabled, a phase error monitor signal “SYCAL” will be output according to the phase error
PMC can take something action by monitoring this signal.
8. Stop the spindle by command 0.
9. Confirm that SST (Speed zero signal) of all spindles became “1 (Speed zero state)”.
10. Next, stop Simple Spindle Synchronous Control of slave axis. (ESSYC3=0)
11. Cancel the velocity tandem command to all spindles of each tandem pair. (command SLVx=0)
12. Confirm that tandem mode of all spindles became cancel mode. (confirm SLVSx=0)
Velo- command Command S0 Command S0

& Speed for stop for stop
Input velo-command after

S0command commanding of simple SP S0command
Speed zero signal synch. control
SSTA
SSTB
SSTC
SSTD
Turn on SLVx after SST Turn off SLVx after cancel simple
Tandem operation command of all SP became 1. SP synch. Control.
SLVA
SLVB
SLVC
SLVD
Wait till become tandem Wait till tandem mode was

Tandem state signal mode canceled after SLVx=0.
SLVSA
SLVSB
SLVSC
SLVSD
Simple SP synch. Turn on simple SP synch. Control Turn off simple SP synch. Control after all
control after all SP became tandem mode. SP became to speed zero state (SST=1).
ESSYC3
T1(msec) T2(msec)
4axes drive state

To make sure, please take the time more than 30msec
as T1, T2, and please execute the next measure.
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6. Parameter
30i #7 #6 #5 #4 #3 #2 ＃1 #0
4015 SPDTDM
This bit must be “1”, if you have Spindle Tandem function option.
NOTE
If this bit is 0, Spindle Tandem function does not exist. Please order the
software option “Spindle Tandem Control function”.
30i #7 #6 #5 #4 #3 #2 ＃1 #0
4352 MASTER SLAVE
SLAVE: Slave axis setting for communication between spindle amplifiers

0 : Not-slave axis
1 : Slave axis (Set this parameter to 1 for the slave spindle amplifier.)
MASTER: Master axis setting for communication between spindle amplifiers
0 : Not-master axis
1 : Master axis (Set this parameter to 1 for the master spindle
amplifier.)
NOTE
In each velocity tandem pair, set “1,0”/"0,1" to this parameter of master/slave.
30i #7 #6 #5 #4 #3 #2 ＃1 #0
4353 RVSVC2
RVSVC2: Relationship of master/slave motor rotation directions in spindle

tandem operation
0 : Both motors rotate in the same direction at spindle rotating ( in the
view from the motor shaft).
1 : Both motors rotate in the opposite directions at spindle rotation time
(in the view from the motor shaft).
This parameter decides the polarity for velocity command and actual motor
speed etc in velocity tandem operation.
NOTE
*1 Please set this parameter only to the tandem master side. (The setting for
the master side is transferred to the slave side by spindle amplifier
communication.)
*2 If the setting of this parameter is improper, the tandem function does not
work correctly.
If you rotate the spindle in this state, the speed polarity error alarm (spindle
alarm d0) will be issued.
30i #7 #6 #5 #4 #3 #2 ＃1 #0
4398 WSVCP VTAN WNDTDM
Set these 3 bits(#5,4,3) in eithr of following combinations.

=0,1,0: Only velocity tandem control function is enabled
=1,1,0: Velocity tandem control function & Velocity-loop integrator copy
function are enabled
NOTE
The setting of the master and the slave must be same.
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30i
4360 Preload value
Unit of data : ±16384 equivalents to a torque command of 100%
Valid data range : -8192 to 8192(-50% to +50%)
This parameter shows a preload value.
This parameter may suppress vibration caused by backlash at stop.
NOTE
*1 If N4360 of tandem slave is 0, the preload of slave is decided by N4360 of
tandem master side, its polarity is decided by N4360 & N4353#2 of master side.
*2 If N4360 of tandem slave is not 0, the preload of slave including its polarity is
decided by this parameter.
The preload torque is added to torque command. So set the preload torque
directions depending on the direction of motors as follows:
When you use Integrator copy between the axes driving Spindle Simple
Synchronous Control (Expanded integrator copy), it’s necessary to set following
parameters
30i #7 #6 #5 #4 #3 #2 ＃1 #0
4541 RVDPOL
RVDPOL: Relationship of master/slave motor rotation directions when use

Expanded integrator copy function.
0 : The master motor and slave motor rotate in the same direction at
spindle rotation (in the view from the motor shaft).
1 : The master motor and slave motor rotate in the opposite directions at
spindle rotation (in the view from the motor shaft).
This parameter is set to the slave of Expanded integrator copy function. (SP-3 in
the figure in page 3)
30i
4597 Setting of Expanded integrator copy
This parameter decides the master axis or slave axis of the function “Expanded
integrator copy”. (SP-1 is the master axis and SP-3 is the slave axis in the
figure in page 3)
= 0 : This function is disabled
= -1: Set as Master-axis of this function
> 0 : Set as Slave-axis of this function:
This data should be set the master-axis number
(Master axis must be selected by logical spindle number).
NOTE
If the setting value in this parameter is not proper, or this parameter is
used with unapplicable spindle amplifier, the following alarm will occur.
SP1252 ILLEGAL SPINDLE PARAMETER SETTING (TANDEM)
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7. Setting example about Integrator copy
If the spindle is driven by 4-multi velocity tandems (8 spindle motors) as the
following figure, the setting about integrator copy is as the following table.
SP N4398#5,4,3 N4353#2 N4541#6 N4597 Remarks

SP-1 1,1,0 1 0 -1 Master-axis of Simple spindle synchronous control (+
Expansion Integrator copy)
Master-axis of Velocity tandem 1 (+ Integrator copy)
SP-2 1,1,0 - 0 0 Slave-axis of Velocity tandem 1 (+ Integrator copy)
SP-3 1,1,0 1 0 1 Slave-axis of Simple spindle synchronous control (+
CNC Tandem-1
Velo. command (*1)
SP-1 Motor
Motor-1
(Master) sensor
SP-1
Velocity tandem
Integrator & Integrator copy
(*1)
SP-2 Motor
Motor-2
(Slave) sensor
(*2)Signal
branch
Tandem-2 adapter
(*1)
SP-3 Motor
Motor-3
(Master) sensor
Velocity tandem
& Integrator copy
(*1)
SP-4 Motor
Simple Expanded Motor-4
Spindle (Slave) sensor
Integrator
Synchronous Copy
control Branch circuit Spindle
(Heidenhain sensor Spindle
IBV606) (Heidenhain)
Tandem-3
(*1)
SP-5 Motor
Motor-5
(Master) sensor
Velocity tandem
& Integrator copy
(*1)
SP-6 Motor
Motor-6
(Slave) sensor
(*2)Signal
branch
Tandem-4
adapter
(*1)
SP-7 Motor
Motor-7
(Master) sensor
Velocity tandem
& Integrator copy
(*1)
SP-8 Motor
Motor-8
(Slave) sensor
(*1) Amplifier: A06B-6154-Hxxx#H590

Communication between SPs (*2) Signal branch adapter: A06B-6111-H405
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8. Spindle orientation
In the spindle drive of using 4, 6 or 8 spindle motors, it is possible to use
spindle orientation. The following option functions are necessary.
- Spindle orientation
- Extended spindle orientation
Regarding spindle orientation command signal (ORCM) and spindle orientation

stop position change command signal (INDX), the signals for the master axis with
parameter No.4597 set to -1 are valid. The signals for the slave axes are invalid.
It is possible to select the method of setting stop position for the orientation by
parameter ORT (No.3729#0). Please set the same value into the parameters for
all spindles used in spindle tandem. Please set the stop position as follows.
- In the case of stop position internal setting type orientation (Parameter

ORT(No.3729#0)=0)
The stop position is specified by parameter (No.4031, No.4077). Please set
the same value into the parameters for all spindles in spindle tandem.
- In the case of stop position external setting type orientation (Parameter

ORT(No.3729#0)=1)
The stop position is specified by external stop position command
(SH11-SH00). Please command the stop position by the signals for the
master axis with the parameter No.4597 set to -1. The signals for the slave
axes are invalid.
NOTE
Please.use with the setting to detect one-rotation signal regardless of
spindle speed.
In case of Heidenhain encoder with 1Vpp, please set as follows:
No.4002#3,2,1,0 = 1,1,1,0
No.4394#2 = 1
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Revision of αi series Spindle Software (9D80/P)

PARAMETER MANUAL
New, Add Applicable
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Another
Revision of spindle software 9D80/P Add 2009.10
TITLE
Revision of αi series
Spindle software ( 9D80/P)
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01 09.10.07 Li B-65280EN/07-15
SHEET
Revision of αi series Spindle Software (9D80/P)
1. General

Notes
edition
A06B-6141-Hxxx#H580 30i/31i/32i-A，
A06B-6142-Hxxx#H580 16i/18i/21i-B，
αiSP
9D80 A06B-6151-Hxxx#H580 0i-B/C, 0i-D ,15i-MB, PMi-D
edition P(16) A06B-6152-Hxxx#H580 Induction/ synchronous spindle motor
0i-D
Contents of modification
Adaptive resonance elimination filter is added.
(1)
Please refer to technical report B-65280EN/07-08 for details of the specifications.
Control stop function from free running for spindle motor after restart of CNC at power failure is
(2) added.
(See item 4 for details.)
Electric power consumption monitor is supported (Induction spindle motors, synchronous
spindle motors).
(3)
Please refer to the separate technical report for details of the electric power consumption
monitor for 30i Series.
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4. Control stop function from free running for spindle motor after restart of CNC at power failure
(1) Overview
If power failure occurs during spindle rotation, the spindle will be in free running (coasting). In
case the spindle was rotating at high speed, it takes long time to stop. So when CNC is restarted
after short time power failure, the spindle may be still in free running.
In such a case, it was necessary to wait for the spindle stopping in order to restart the spindle.
This time, spindle software is improved to control the spindle motor to stop from free running. It is
possible to restart quickly the spindle from free running after power failure.
(2) Example sequence

Normal operation
Free running
Spindle motor speed Control stop
Zero-speed
(4)
detection level
0 min-1
Zero-speed detection signal

SST (F045#1)
Spindle emergency stop signal

*ESP (G071#1) (1)
Machine ready signal

MRDY (G070#7)
Torque limit signal

TLMH (G070#1) (2)
(5)
Excitation condition signal
RXSST (G304#4)
Forward rotation signal (6)

SFR (G070#5) (3)
S command 0 min-1
In the existing specification, because zero-speed state (SST=1) is included in the conditions to
excite a spindle motor, the motor will be not excited until the motor speed decreases to below
zero-speed level.
In the new specification, the zero-speed state is excluded by setting the new signal of excitation
condition signal, and so the motor can be excited from free running.
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(1) Turn CNC power on, release the emergency stop in spindle free running state, and input
machine ready signal.
(2) Input torque limit signal and excitation condition signal.
(3) Input forward rotation signal with S command of 0 min-1.
(4) Spindle decelerates slowly to stop with the torque limit.
(5) Reset forward rotation signal, excitation condition signal and torque limit signal after
spindle stop.
(6) Spindle runs in normal operation.
(3) Input signal (PMC→CNC)
FS30i #7 #6 #5 #4 #3 #2 #1 #0
st
1 G304 RXSSTA
nd
2 G308 RXSSTB
: : RXSSTx
RXSSTx: Excitation condition signal

0: Status of zero-speed detection signal (SST) is included in the
conditions to excite a motor.
1: Status of zero-speed detection signal (SST) is not included in the
conditions to excite a motor.
(4) Note
• This function is unavailable for synchronous spindle motors.

• With this function, the spindle cannot decelerate with synchronized to other spindle or servo
axes because the spindle motor is controlled to stop in velocity mode.
• Please use this function under the condition which can accept the spindle control stop.
• The deceleration can be slow by regulating torque limit parameter (No.4025), if you need.
• This function is available in case the spindle amplifier etc. has no problem. If the spindle
amplifier etc. is damaged, the spindle motor cannot be controlled to stop.
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Revision of αi series Spindle Software (9D90/B)

PARAMETER MANUAL
New, Add Applicable
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Another
Revision of spindle software 9D90/B Add 2009.11
TITLE
Spindle software (9D90/B)
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SHEET
Revision of αi series Spindle Software (9D90/B)
1. General

Notes
edition
30i/31i/32i-A，
9D90 A06B-6144-Hxxx#H590 16i/18i/21i-B，
αiSP
edition B(02) A06B-6154-Hxxx#H590 0i-B/C, 0i-D ,15i-MB, PMi-D
Induction/ synchronous spindle motor
Contents of modification
Spindle Tandem Control (Velocity Tandem Control) is added. (30i/31i)
(1)
Spindle Tandem Disturbance Elimination Control is added. (30i/31i/32i)
(2)
The function for spindle drive of using more than 4 spindle motors is added. (30i/31i)
(3)
Variable Proportional Gain Function in the stop state for Cs contouring control is
(4) added. (30i/31i/32i, 0i-D)
Power consumption monitoring is supported. (30i/31i/32i)
(5) Please refer to the separate technical report A-92737E for details of the Power
Consumption Monitoring for 30i Series.
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Variable Proportional Gain Function in the stop state (for Cs contouring Control)

PARAMETER MANUAL
New, Add Applicable
Correct, Del Date
Basic Function
Optional Cs Contouring Control is enhanced to add Variable

Add 2009.11
Function Proportional Gain Function in the stop state.
Unit
Maintenance
Parts
Notice
Correction
Another
TITLE
Variable Proportional Gain Function in the stop
state (for Cs Contouring Control)
01 2009.11.30 K. Takahashi Newly

DRAW. No.
B-65280EN/07-17 CUST.
SHEET
Variable Proportional Gain Function in the stop state

(for Cs Contouring Control)
1. General ....................................................................................................................................................................... 3
2. Applicable Spindle software ..................................................................................................................................... 3
3. Related parameter ..................................................................................................................................................... 3
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01 2009.11.30 K. Takahashi
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1. General
This is the function to suppress the vibration at the time of a motor stop by reducing
the velocity loop proportional gain, after stopping of motor in Cs contouring mode.
The motor may vibrate in following cases, because the velocity loop gain becomes too
high. This function will be effective in such cases.
• Case1: Motor becomes a free status in a backlash in such as gear connection

during motor stop
• Case2: Load inertia becomes lighter when work-piece is exchanged.
2. Applicable Spindle software
Spindle software
Spindle software
Spindle amplifier drawing number Series Version CNC
A06B-6144-Hxxx#H590 (200V line) FS30i/FS31i/FS32i
9D90 02 or later
A06B-6154-Hxxx#H590 (400V line) FS0i-D
3. Related parameter
The following parameters are used for this function.
30i, 0i-D
Variable proportional gain function in the stop state :
4598
Arbitrary magnification in the stop state
Data of unit : 1%
Data range : 0 (Function off), 1 to 100
In Cs contouring mode, after recognizing the axis stop, the velocity loop
proportional gain is reduced to this level. This function becomes effective when
something value except 0 is set.
30i, 0i-D
Variable proportional gain function in the stop state :
4599
Stop judgment level
Data of unit : Detection unit (0.001deg (No.4005#0=0), 0.0001deg(No.4005#0=1))
This parameter is used for judgment of motor stop.

After the motion command becomes 0 and the time of 5 times of inverse number
of position gain passes, spindle software checks the position error. When it becomes
less than this level, spindle software recognizes the motor stop state.
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Tuning way of Cs contouring control for αi series Spindle Software

PARAMETER MANUAL
New, Add Applicable
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice Addition of the information to achieve high controllability in Cs
Add 2009.12
contouring control
Correction
Another
TITLE
Tuning way of Cs contouring control
for αi series Spindle Software
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Tuning way of Cs contouring control for αi series Spindle Software
1. General
Recently built-in spindle motors with high resolution spindle sensor such as αi CZ sensor
becomes popular. It’s possible to achieve the high precision control by the combination. In this
document, we show the tuning way of Cs contouring control to make the servo performance
better (in response and in stability).
[Example of using αiCZ sensor]
αiCZ sensor (serial)
αiSP
Spindle +
JYA3 Detection Built-in motor
circuit
Thermistor
2. Tuning way
It’s necessary to do the following tuning to make the servo performance better in Cs contouring
control.
(1) Before velocity gain tuning, please change the setting value of torque command filter.
Torque command filter
Velocity command
Prop. gain Motor
+ +
- +
Integral gain 1/s
Velocity feedback
16i 30i,0i-D
4121 4121 Torque command filter time constant
4157 4157 Torque command filter time constatnt for low-speed characteristics
The value “5” is set in above parameters by automatic initialization. This standard value “5”
is adequate for the spindle using rough resolution sensor.
When you use high resolution sensor such as αiCZ sensor, we recommend you to change it to
“2” for getting high response.
After changing the value, please confirm that there is no vibration or no strange sound.
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(2) Next, please tune the velocity loop gain.
Override
Velocity command
Torque command
Position Prop. gain
control + +
- +
Integral gain 1/S
Velocity feedback
16i 30i,0i-D
4046 4046 Velocity loop proportional gain in Cs contouring control (HIGH) (CTH1A=0)
4047 4047 Velocity loop proportional gain in Cs contouring control (LOW) (CTH1A=1)
4054 4054 Velocity loop integral gain in Cs contouring control (HIGH) (CTH1A=0)
4055 4055 Velocity loop integral gain in Cs contouring control (LOW) (CTH1A=1)
4342 4342 Velocity loop gain override in Cs contouring control (HIGH) (CTH1A=0)
4343 4343 Velocity loop gain override in Cs contouring control (LOW) (CTH1A=1)
Please set standard values to velocity loop proportional gain and integral gain which are
prepared for each motor respectively. (Please refer to the chapter I-2.4.6.4 in B-65280JA/07
for the parameter list.)
And please tune velocity loop gain override to 80% of limit value.
Parameter Setting value

Velocity loop proportional gain Standard value for each motor
Velocity loop integral gain Standard value for each motor
Velocity loop gain override Tuning value
If you see following phenomena, please reduce the override value to get some margin.
- Something strange sound is heard from the spindle.
- The vibration of torque command becomes large.
- The vibration of position error at the stop becomes large.
If you can use SERVO GUIDE, please tune the velocity loop gain watching the frequency
response of velocity loop. Basically we recommend you to tune velocity loop gain override to
improve the response. But if you see a swelling in 40-70Hz domain in gain character, please
try to reduce the integral gain a little. We recommend you to tune the swelling under 5dB.
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Example) Swelling of gain character
(3) Lastly, please tune the position loop gain.

Please find the limit value of position gain with watching vibration at the stop and at the
moving. In general, all the axes, which execute contouring control, have same position gain.
So you can’t determine the setting value only by character of Cs axis only. But as for the
setting value of position gain for Cs axis, please adopt the value under 80% of limit value.
If you can use SERVO GUIDE, you can know the acceptable value of position gain from the
cut-off frequency of velocity loop control.
The cut-off frequency is defined as the frequency where the phase becomes -90 deg.
When you use built-in spindle motor, you can get over F(s-1) as position gain if the cut-off
frequency is F(Hz).
Example) Frequency response of a built-in spindle motor
Cut-off frequency 100Hz
In above example, as the cut-off frequency is 100Hz, you can get over 100(s-1) as
position gain, we suppose.
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Correction of FANUC AC SPINDLE MOTOR αi series PARAMETER MANUAL

Name FANUC AC SPINDLE MOTOR αi series
FANUC AC SPINDLE MOTOR βi series
PARAMETER MANUAL
Group Name / Outline New, Add Applicable
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction Notes for using the αι CZ sensor (serial) were corrected. Correct 2009.12
Another
TITLE
Correction of FANUC AC SPINDLE MOTOR
αi series PARAMETER MANUAL
DRAW. No. CUST.
1
01 09.12.25 Tajima B-65280EN/07-19
SHEET
FANUC LTD
Correction of FANUC AC SPINDLE MOTOR αi series PARAMETER MANUAL
1. General
This document reports errors and corrections in FANUC AC SPINDLE MOTOR αi series
PARAMETER MANUAL as follows.
2. Details of error
Item
Page Details Error Correction
Set it to “0” when using the Set it to “1” when using the
（1.3.1 List of Parameters for Detectors） αiCZ sensor (serial). Setting αiCZ sensor (serial). Setting
16
Note for No.4016#5:RFCHK1 it to “1” results in a spindle it to “0” results in a spindle
state error (error 43). state error (error 43).
Set it to “0” when using the Set it to “1” when using the
（1.3.1 List of Parameters for Detectors） αiCZ sensor (serial). Setting αiCZ sensor (serial). Setting
16
Note for No.4016#6:RFCHK2 it to “1” results in a spindle it to “0” results in a spindle
state error (error 43). state error (error 43).
TITLE
Correction of FANUC AC SPINDLE MOTOR
αi series PARAMETER MANUAL
DRAW. No. CUST.
1
01 09.12.25 Tajima B-65280EN/07-19
SHEET
FANUC LTD
αiBZ sensor (A860-2150-T111, A860-2155-T111)
1. Type of applied technical documents
Title FANUC AC SPINDLE MOTOR αi series, FANUC AC SPINDLE MOTOR βi

series, FANUC BUILT-IN SPINDLE MOTOR Bi series PARAMETER MANUAL
FANUC SERVO AMPLIFIER αi series DESCRIPTIONS
FANUC BUILT-IN SPINDLE MOTOR BiI series DESCRIPTIONS
B-65282EN/06
B-65292EN/04
2. Summary of change
Group Name／Outline New・Add Applicable

Correct・Del Date
Basic αiBZ sensor／Addition of the variation to the line-up; Add Feb.2010
96 teeth of detection ring
Function (A860-2150-T111, A860-2155-T111)
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Another
αiBZ sensor
Title
(A860-2150-T111, A860-2155-T111)
B-65280EN/07-20, B-65282EN/06-16
Draw.
B-65292EN/04-06
01 10.02.10 A. Nishioka New design
Edit Date Design Description FANUC LTD. PAGE 1／6
3. Outline
This report is to add the variation to αiBZ sensor line up; 96 teeth of detection ring.
4. Names and Drawing Numbers

Remarks
Drawing No.
Detection ring
Name Maximum
Waterproof Non-waterproof Number
rotational Inner Outer
connector connector of teeth
speed diameter diameter
specification specification
αiBZ sensor 96 A860-2150-T111 A860-2155-T111 96 80,000min-1 φ30 φ39.2
(Additional specification)
αiBZ sensor 128H
-1
A860-2150-T211 A860-2155-T211 128 70,000min φ40 φ52
αiBZ sensor 192H

-1
A860-2150-T311 A860-2155-T311 192 40,000min φ60 φ77.6
αiBZ sensor 256H

-1
A860-2150-T411 A860-2155-T411 256 30,000min φ82 φ103.2
αiBZ sensor 384 A860-2150-T511 A860-2155-T511 384 15,000min-1 φ125 φ154.4
αiBZ sensor 512

-1
A860-2150-T611 A860-2155-T611 512 10,000min φ160 φ205.6
5. Absolute Maximum Ratings

Item Specifications
Power supply voltage -0.5V to +7.0V
Operating temperature 0℃ to +80℃
Humidity 95%RH or less
6. Electrical Specifications
Item Specifications
Power supply voltage 5V +/- 5%
Current consumption 0.05A or less
VA,*VA
VB,*VB αiBZ sensor 96 96λ / rev
Output signals
VZ,*VZ Common to all models 1λ / rev
7. Resolution and accuracy

Resolution in
Name Accuracy (typ.)
Cs axis control
αiBZ sensor 96 360,000 / rev 50/1000 deg.
Note1: Please take care that the accuracy listed above is the typical amount and it is
not guaranteed.
Note2: The amount of the accuracy mentioned above does not include the influence
of the error caused by the radial eccentricity in the installation of the detection
ring is calculated as follows.
Error amount (deg.) = A (mm) X 360 / B (mm)
A: Radial eccentricity of the machine spindle or sleeve in the area where
the detection rings is installed
B: Length of the outer diameter or the detection ring
e.g. In case that the radial eccentricity of the spindle is 0.005mm with the
96λ detection ring (outer diameter: φ39.2), the error amount is;
0.005 X 360 / (39.2 X π) = 0.0146 (deg.)
αiBZ sensor
Title
(A860-2150-T111, A860-2155-T111)
B-65280EN/07-20, B-65282EN/06-16
Draw.
B-65292EN/04-06
8. Outline Drawing
- Waterproof connector specification; A860-2150-T111
Accessories: parallel pin (JIS B 1354-1988, class A, normal diameter φ3, normal length 6) x 2, feeler gage (t = 0.15mm) x 1
- Non-waterproof connector specification; A860-2155-T111
Accessories: parallel pin (JIS B 1354-1988, class A, normal diameter φ3, normal length 6) x 2, feeler gage (t = 0.15mm) x 1
unit (mm)
Sensor drawing No. Number of teeth A φB φC φD
A860-2150-T111
96 22.75 39.2 + 0
− 0.02
30 +−00.016 92
A860-2155-T111
αiBZ sensor
Title
(A860-2150-T111, A860-2155-T111)
B-65280EN/07-20, B-65282EN/06-16
Draw.
B-65292EN/04-06
NOTE
・ The sensor is used within the permissible operative temperature; 0℃ to 80℃.
・ The αiBZ sensor is precision device, so please be very careful in its handling. In particular, don’t apply
shock or stress to the sensor head.
・ Attach and fix the sensor cable to the machine to prevent the direct tensile stress to the sensor head.
・ The waterproof performance of the αiBZ sensor is IP 67. But please notice that the waterproof
performance prescribed by the IP rating is limited to the situation that the subject is water and the time of
exposure is short, and it is not a guarantee. Please apply a cover or take some kind of countermeasure
like that so that the coolant does not splash on the sensor head directly.
・ In installing the αiBZ sensor, make sure that the regulations in FANUC BUILT-IN SPINDLE MOTOR BiI
series DESCRIPTIONS B-65292EN/04 [III. SENSOR] are satisfied.
・ To ensure ease of maintenance, install a sensor in a location where it can be replaced easily.
・ The detection ring of the αiBZ sensor can be exchanged to another detection ring of the same drawing
number.
Note about the detection ring

The detection ring of αiBZ sensor has the Z signal area and the AB signal area,
which is integrated in one ring. The Z signal area of the detection ring consists of
the convex projection shape and the AB signal area consists of the gear shape. In
the handling of the detection ring, please be careful to avoid the chipping or the
deformation of its outer tip.
Z signal area
AB signal area
αiBZ sensor
Title
(A860-2150-T111, A860-2155-T111)
B-65280EN/07-20, B-65282EN/06-16
Draw.
B-65292EN/04-06
9. Interference amount for Shrink Fitting
The table below indicates the interference amount of shrink fitting (= the diameter
difference between inner diameter of detection ring and outer diameter of shaft) for
each specification to the rotational speed.
Interference amount of shrink fitting of αiBZ sensor 96

Interference amount of shrink fitting
Maximum speed
(Diameter difference)
(min-1)
(µm)
3,000 6 to 32
3,500
4,500
6,000
8,000
10,000
12,000
15,000
20,000 7 to 33
25,000 8 to 34
30,000 10 to 36
40,000 13 to 39
50,000 17 to 43
60,000 22 to 48
70,000 27 to 53
80,000 34 to 60
NOTE
・ Appropriate interference amount of the shrink fitting should be selected in accordance
with the maximum rotational speed of the machine and the kind of the applied sensor.
Inappropriate interference amount may cause the idle running of the detection ring or the
malfunction.
・ The detection rings cannot be used at a excessive speed than the maximum speed
which appears in the table above.
αiBZ sensor
Title
(A860-2150-T111, A860-2155-T111)
B-65280EN/07-20, B-65282EN/06-16
Draw.
B-65292EN/04-06
10. Parameter
In case αiBZ sensor 96 is used, the following parameter setting is needed.
In case αiBZ sensor 96 is used as the motor sensor.

Parameter No.
Settings Description
30i 16i 15i
The motor sensor is used for position
4002 #3,2,1,0 4002 #3,2,1,0 3002 #3,2,1,0 0,0,0,1
feedback.
4003 #7,6,5,4 4003 #7,6,5,4 3003 #7,6,5,4 0,0,0,0 The number of spindle sensor teeth
4010 #2,1,0 4010 #2,1,0 3010 #2,1,0 0,0,0 The αiBZ sensor is used as the motor
sensor.
4011 #2,1,0 4011 #2,1,0 3011 #2,1,0 0,0,0 The number of motor sensor teeth
4334 4334 3334 96 Arbitrary number of motor sensor teeth

Arbitrary number of spindle sensor
4361 4361 3361 0
teeth
In case αiBZ sensor 96 is used as the spindle sensor (the separate sensor).
Parameter No.
Settings Description
30i 16i 15i
4002 #3,2,1,0 4002 #3,2,1,0 3002 #3,2,1,0 0,0,1,1 The αiBZ sensor is used as the
spindle sensor.
4003 #7,6,5,4 4003 #7,6,5,4 3003 #7,6,5,4 0,0,0,0 The number of spindle sensor teeth
Depends on the
4010 #2,1,0 4010 #2,1,0 3010 #2,1,0 The type of motor sensor
motor sensor.
Depends on the
4011 #2,1,0 4011 #2,1,0 3011 #2,1,0 The number of motor sensor teeth
motor sensor.
Depends on the
4334 4334 3334 Arbitrary number of motor sensor teeth
motor sensor.
Arbitrary number of spindle sensor
4361 4361 3361 96
teeth
11. Installation, Connection

Installation / Connection of the sensor described in this report is common to the
former specification. Refer to FANUC BUILT-IN SPINDLE MOTOR BiI series
DESCRIPTIONS B-65292EN/04 [III. SENSOR].
αiBZ sensor
Title
(A860-2150-T111, A860-2155-T111)
B-65280EN/07-20, B-65282EN/06-16
Draw.
B-65292EN/04-06
(9D5A/G, 9D53/T, 9D70/U, 9D80/R, 9D90/D)

PARAMETER MANUAL
New, Add Applicable
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Revision of spindle software 9D5A/G

Revision of spindle software 9D53/T
Another
Revision of spindle software 9D70/U Add 2010.03
Revision of spindle software 9D80/R
Revision of spindle software 9D90/D
TITLE
( 9D5A/G, 9D53/T, 9D70/U,
9D80/R, 9D90/D)
DRAW. No. CUST.
1
01 10.03.05 Li Newly designed B-65280EN/07-21

SHEET
1/4
(9D5A/G,9D53/T,9D70/U,9D80/R,9D90/D)
1. General

Notes
edition
A06B-6111-Hxxx#H550 16i/18i/21i-B,
A06B-6112-Hxxx#H550
αiSP 0i-B/C, 15i-MB, PMi-D
9D5A A06B-6121-Hxxx#H550
edition G(07)
A06B-6134-Hxxx#A
βiSVSP 0i-B/C
A06B-6134-Hxxx#D
A06B-6111-Hxxx#H553 16i/18i/21i-B,
9D53 A06B-6112-Hxxx#H553
αiSP 0i-B/C, 15i-MB, PMi-D
edition T(20) A06B-6121-Hxxx#H553
A06B-6111-Hxxx#H570
9D70 A06B-6112-Hxxx#H570 30i/31i/32i-A
αiSP
edition U(21) A06B-6121-Hxxx#H570 Induction/ synchronous spindle motor
A06B-6122-Hxxx#H570
A06B-6141-Hxxx#H580 30i/31i/32i-A，
A06B-6142-Hxxx#H580 16i/18i/21i-B，
αiSP
9D80 A06B-6151-Hxxx#H580 0i-B/C, 0i-D ,15i-MB , PMi-D
edition R(18) A06B-6152-Hxxx#H580 Induction/ synchronous spindle motor
0i-D
30i/31i/32i-A，
9D90 A06B-6144-Hxxx#H590 16i/18i/21i-B，
αiSP
edition D(04) A06B-6154-Hxxx#H590 0i-B/C, 0i-D ,15i-MB, PMi-D
Induction/ synchronous spindle motor
Contents of modification 9D5A/G 9D53/T 9D70/U 9D80/R 9D90/D
Soft start/stop function is improved.

(See item 4 for details)
○ ○ ○ ○ ○
: Revised item
TITLE
( 9D5A/G, 9D53/T, 9D70/U,
9D80/R, 9D90/D)
DRAW. No. CUST.
1

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4. The improvement of Soft start/stop function
4-1. Outline
The soft start/stop function is prepared to make acceleration and deceleration of spindle gentle.
The signal for soft start/stop “SOCNA” will enable the function.
As standard specification, when the motor rotation operation is quitted by emergency stop or
so, the soft start/stop function will be automatically invalid and the velocity command will
become 0 at the same time. But in the large machines, the soft start/stop function is required,
because sudden velocity command change to 0 will cause the large shock. So the setting to
enable the function even at the quit of motor rotation operation is also prepared. (No.4399#2=1)
By the way, this soft start/stop signal “SOCNA” is used for velocity control mode basically, but
it is also used to enable acc./dec. time constant for reference position return at Cs contour control
or rigid tapping (No.4406). This function bit will make the acc./dec. at reference position return
gentle. But in conventional specification, when the reference position return operation in Cs
contour control or rigid tapping is quitted (including the quit by emergency stop), the time
constant both for soft start/stop and for reference position return has been invalid.
In this edition, we’ve improved it.
4-2. Parameter setting
FS16i FS30i #7 #6 #5 #$ #3 #2 #1 #0
4399 4399 SOSALW
SOSALW When the motor rotation operation is quitted *),

0: the acc./dec. by soft start/stop is not executed. (Standard setting)
1: the acc./dec. by soft start/stop is executed.
When the motor rotation operation is quitted by emergency stop or

so with using soft start/stop function (No.4030≠0) and SOSALW=1,
the acceleration setting of the soft start/stop function (No.4030) is
applied and the spindle decelerates gently.
In this edition, we improved the behavior of deceleration when the

reference position return operation in Cs contour control or rigid
tapping is quitted.
- 9D80 series edition A(01) to Q(17) : No time constant is applied.
- 9D80 series edition R(18) or later : The deceleration specified by
No.4030 is applied.
*) The quitting of the motor rotation operation includes following

cases.
- Input of emergency stop signal
- Input of external reset signal
- Input of reset and rewind signal
- In put of reset signal from MDI
- Release of axis selection signal
TITLE
( 9D5A/G, 9D53/T, 9D70/U,
9D80/R, 9D90/D)
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4-3. Reference parameter
FS16i FS30i
4030 4030 Soft start/stop setting time
Data unit : 1min-1/sec

Data range : 0～32767
Standard setting: 0
This parameter specifies the acceleration (inclination of speed change)
for soft start/stop function with SOCNA(Soft start/stop signal)=1.
When you set something value except 0 in this parameter, the soft
start/stop function will be effective.
FS16i FS30i
4406 4406 Acceleration/Deceleration time constant for reference position return for Cs
contouring control/servo mode
Data unit : 1msec

Data range : 0～32767
Standard setting: 0
This parameter specifies the time constant for reference position
return for Cs contouring control or servo mode (Rigid tapping /
Spindle positioning). This parameter is effective with SOCNA=1.
TITLE
( 9D5A/G, 9D53/T, 9D70/U,
9D80/R, 9D90/D)
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ADDITIONAL INFORMATION

Revision of αi series Spindle software

1. Type of applied documents

DRAW. No. CUST.

2. Software series, edition and applied spindle amplifier

Contents of modification 9D5A/A 9D53/O 9D70/O 9D80/K

DRAW. No. CUST.

DRAW. No. CUST.

(1) Over view

No. Description Initial setting

4031 Spindle orientation stop position Specify a stop position.

DRAW. No. CUST.

15i 16i,0i-B/C 30i,0i-D #7 #6 #5 #4 #3 #2 #1 #0

ORACMP Whether to enable the compensation of the spindle acceralation for

15i 16i,0i-B/C 30i,0i-D

- - 4590[L] Optimum orientation: spindle orientation speed limit ratio1(HIGH) (CTH1A=0)

<REFERENCE> There is a possibility to shorten the orietation time by adjusting this

DRAW. No. CUST.

DRAW. No. CUST.

1．Type of applied documents

Another Magnetic Flux Boost Function Add 2008.06

Magnetic Flux Boost

Magnetic Flux Boost

1.2. Applicable software

1.This function is not available for synchronous spindle motors.

Magnetic Flux Boost

Shortening the rising time of magnetic flux

Magnetic Flux Boost

Shortening the rising time

With Magnetic Flux Boost Function

Cs axis coordinate setup request signal

Shortening the rising time

With Magnetic Flux Boost Function

Magnetic Flux Boost

15i 16i,0i-B/C 30i,0i-D #7 #6 #5 #4 #3 #2 #1 #0

Sub 3374 4374 4374 FBTCSC

FBSTCS Whether to enable Magenetic Flux Boost Function

15i 16i,0i-B/C 30i,0i-D

Magnetic flux boost completion level (high speed characteristics)/

This parameter specifies the setting on Magnetic Flux Boost Function.

15i 16i,0i-B/C 30i,0i-D

3099 4099 4099 Dlay time for stable motor exitation

Unit of data: 1ms

Magnetic Flux Boost

■Parameter list of No.4124 (No.4155)

Magnetic Flux Boost

Magnetic Flux Boost completion level

c.Spindle motor αiIT series(200V)

Magnetic Flux Boost completion level

Magnetic Flux Boost

Magnetic Flux Boost completion level

e.Spindle motor αiIP series(400V)

Magnetic Flux Boost completion level

Magnetic Flux Boost

Magnetic Flux Boost completion level

Magnetic Flux Boost

Magnetic Flux Boost completion level

Magnetic Flux Boost

Magnetic Flux Boost completion level

Magnetic Flux Boost

1. Type of applied documents

Name FANUC AC SPINDLE MOTOR αi series,

New, Add Applicable