FANUC SERVO GUIDE

OPERATOR'S MANUAL

B-65404EN/02
 • No part of this manual may be reproduced in any form.
• All specifications and designs are subject to change without notice.

The products in this manual are controlled based on Japan’s “Foreign Exchange and
Foreign Trade Law”. The export from Japan may be subject to an export license by the
government of Japan.
Further, re-export to another country may be subject to the license of the government of
the country from where the product is re-exported. Furthermore, the product may also be
controlled by re-export regulations of the United States government.
Should you wish to export or re-export these products, please contact FANUC for advice.

In this manual we have tried as much as possible to describe all the various matters.
However, we cannot describe all the matters which must not be done, or which cannot be
done, because there are so many possibilities.
Therefore, matters which are not especially described as possible in this manual should be
regarded as ”impossible”.
B-65404EN/02 SAFETY PRECAUTIONS

SAFETY PRECAUTIONS
This manual includes safety precautions for protecting the user and preventing damage to the machine.
Precautions are classified into Warning and Caution according to their bearing on safety. Also,
supplementary information is described as a Note. Read the Warning, Caution, and Note thoroughly
before attempting to use the machine.

WARNING
Applied when there is a danger of the user being injured or when there is a
damage of both the user being injured and the equipment being damaged if the
approved procedure is not observed.

CAUTION
Applied when there is a danger of the equipment being damaged, if the
approved procedure is not observed.

NOTE
The Note is used to indicate supplementary information other than Warning and
Caution.

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

GENERAL WARNINGS AND CAUTIONS

The following warnings and cautions provide information that the user should bear in mind when
handling the CNC to use a machine with the CNC more safely.

WARNING
1 SERVO GUIDE is the software for only tuning servo system. Don't use this
software for normal work (cutting or etc.).
2 Before tuning with SERVO GUIDE, thoroughly confirm that there are no
dangerous objects, for example tools, work objects and so on. When you get the
data by SERVO GUIDE during cutting, please operate not from SERVO GUIDE
but from CNC directly. And don't send programs or change parameters through
SERVO GUIDE. Don't forget to use SERVO GUIDE ONLY for measurement.
3 Don't connect two personal computers to one CNC and operate one NC through
both SERVO GUIDE. Both requests interfere each other and CNC system may
behaves incorrectly.
4 After understanding the effect of tuning parameter very well , tune the
parameter. The wrong tuning of parameters may cause the unexpected behavior
of the machines.

CAUTION
1 SERVO GUIDE can handle command programs , parameters and so on from
the personal computer side. Before using SERVO GUIDE, don't forget to make a
backup of the nonvolatile memory data to provide against erasing memory by
mistake.
2 SERVO GUIDE MATE and SERVO GUIDE cannot be used together.

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SAFETY PRECAUTIONS B-65404EN/02

WARNINGS AND CAUTIONS RELATING TO SERVO GUIDE

Warnings and cautions relating to SERVO GUIDE are explained in this manual. Before using SERVO
GUIDE, read this manual thoroughly to become familiar with the provided warnings and cautions.

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B-65404EN/02 PREFACE

PREFACE
FANUC SERVO GUIDE is the integrated environment to make Servo & Spindle tuning easier.
SERVO GUIDE has the following features.

• Easy connection to CNC

• Integrated environment for tuning for example creating tuning programs, measuring data and
changing parameters
• Measurement of servo and spindle data at the same time
• Wealth of automatic adjustment functions

This software is used on Microsoft® Windows®. This manual does not explain basic operations of
Windows. Users who are using Windows for the first time should read manuals on Windows first to
become familiar with the basic operations of Windows.

This manual explains items specific to the servo tuning tool including information on how to install, start,
and operate this software. For information about CNC operation and parameter setting, refer to the
relevant manuals on the CNC used.

Read this manual thoroughly to ensure the correct use of FANUC SERVO GUIDE.

CAUTION
This software can be used on one computer. When this software is used on
more than one computer, the user must receive as many licenses as the number
of the computers used to run this software. Just one copy of this software is
permitted for backup or storage. The copyrights of this software product,
supplied help, and so on belong to FANUC.

* Microsoft and Windows are registered trademarks of Microsoft Corporation in the United States of
America.

ORGANIZATION OF THIS MANUAL

This manual is organized as follows:

SAFETY PRECAUTIONS
Explains the general precautions which must be observed to use SERVO GUIDE safely.

PREFACE
Briefly explains the features of SERVO GUIDE. Also explains how to use information on the usage
of SERVO GUIDE, including this manual.

I. USAGE
1. SETUP
Explains how to set up SERVO GUIDE.
2. CONNECTION AND COMMUNICATION WITH THE NC
Explains how to connect a personal computer to the CNC.
3. MAIN BAR
Explains the Main Bar of SERVO GUIDE.
4. PARAMETER WINDOW
Explains the Parameter Window.

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PREFACE B-65404EN/02

5. GRAPH WINDOW
Explains the Graph Window.
6. PROGRAM WINDOW
Explains the Program Window.
7. TUNING NAVIGATOR
Explains Tuning Navigator.

II. CONCRETE EXAMPLES

Specifically explains how to make measurements using the three windows of SERVO GUIDE by
using examples.

APPENDIX
Provides information which is to be read as necessary.

NOTATION CONVENTIONS
The following explains the notation conventions used in this manual:

• Menu, commands, and screen notations

Example Explanation
[Menu] Menu names are enclosed in brackets [].
[Command] Command names are enclosed in brackets [].
[Title bar] Screen names (displayed on the title bar) are enclosed in brackets [].
<OK> button Command buttons on the display are enclosed in angle brackets <>.

• Key notations and operation

Example Explanation
[Enter] key Key names are enclosed in brackets [].
[Ctrl]+[Tab] keys When keys are to be pressed sequentially and held down at the same time, the
keys are indicated by connecting them with +, as shown on the left.
Direction keys The [→], [←], [↑], and [↓] keys are collectively called the direction keys.

• Mouse operations
Example Explanation
Click Press a mouse button, then release it immediately.
Double-click Click a mouse button twice in quick succession.
Drag Move the mouse while holding down a mouse button, then release the button at
a desired location.

• Folders
This manual refers to directories and folders collectively as folders.

• CNC models
In this manual, the abbreviations listed below are used.
CNC models Abbreviations
FANUC Series 30i -MODEL B
Series 30i
FANUC Series 30i -MODEL A
FANUC Series 31i -MODEL B5
FANUC Series 31i -MODEL A5
Series 31i
FANUC Series 31i -MODEL B
FANUC Series 31i -MODEL A
FANUC Series 32i -MODEL B
Series 32i
FANUC Series 32i -MODEL A
FANUC Series 35i -MODEL B Series 35i
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B-65404EN/02 PREFACE

CNC models Abbreviations

FANUC Series 16i -MODEL B Series 16i
FANUC Series 18i -MODEL B5
Series 18i
FANUC Series 18i -MODEL B
FANUC Series 21i -MODEL B Series 21i
FANUC Series 20i –MODEL B Series 20i
FANUC Series 0i -MODEL D
FANUC Series 0i -MODEL C Series 0i
FANUC Series 0i -MODEL B
FANUC Series 0i Mate-MODEL D
FANUC Series 0i Mate-MODEL C Series 0i Mate
FANUC Series 0i Mate-MODEL B
FANUC Power Motion i -MODEL A Power Motion i
FANUC Power Mate i -MODEL D
Power Mate i
FANUC Power Mate i -MODEL H

FEATURES OF SERVO GUIDE

This software has the following features:

• Integrated tuning tool for tuning servo and spindle axes on a personal computer
• Easy connection by inserting a PCMCIA-LAN card on the front of the CNC
• Easy operation by GUI
• Automatic tuning by Tuning Navigator

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PREFACE B-65404EN/02

Outline of software specifications

SERVO GUIDE consists of four software functions including three types of window, which are the
Parameter Window, the Graph Window, and the Program Window, and a tuning support wizard called
Tuning Navigator.
The following outlines the specifications of these software functions.

(1) Parameter Window

• Parameters on the CNC are taken in, and classified and displayed for each function.
• Parameters for servo and spindle axes are supported.
• Automatic acceleration/deceleration functions for high speed and high-precision are supported.
• CNC parameters can be changed on the personal computer.
* Multipath systems are supported by Version 3.00 and later versions.

Details of function groups that can be set in the Parameter Window

[Servo]
Group Description
System setting CNC options related to servo systems are extracted and displayed.
Servo axis setting Use of separate detector, rotary motor/linear motor/synchronous built-in servo
motor (DD motor), CMR, flexible feed gear, setting of AMR, and setting of
acceleration sensor, etc.
Acceleration/ deceleration Time constant of Acc./Dec. before interpolation and time constant of
Acc./Dec. after interpolation, speed difference in automatic corner
deceleration, setting for arc radius-based feed rate clamp, setting for
acceleration-based deceleration, Jerk control
(Normal control, advanced preview control, AI advanced preview control, AI
contour control, AI nano contour control, high precision contour control, AI
high precision contour control, AI nano high precision contour control, AI
contour control I and II)
Current control HRV, HRV2, HRV3, and HRV4 control, and setting of current gain
Velocity control Velocity loop gain setting, setting of the function of vibration suppression in
the stop state, setting of filters for eliminating machine resonance, vibration
damping control, setting of dual position feedback, and setting of the
full-closed loop function, etc.
Position control Position gain
Contour error suppression Feed-forward, backlash acceleration, interactive force compensation, and fine
Acc./Dec. (16i series only)
Improvement in overshoot Setting of overshoot compensation function
High-speed positioning function Setting of FAD + advanced preview feed-forward, position gain switching
function, etc.
Stop Setting of brake control, quick stop at emergency stop, etc., and lifting
function against gravity, etc.
Unexpected disturbance torque Adjustment of estimated disturbance value, alarm detection level
detection
Linear motor Setting of feedback, setting of AMR, and setting of smoothing compensation
DD motor Setting of feedback, setting of AMR, and setting of smoothing compensation
Tandem control axes Setting of tandem control axes
Pole position detection Setting of pole position detection functions

[Spindle]
Group Description
System setting CNC options related to spindle systems are extracted and displayed.
Spindle system configuration Motor end sensor (main and sub) setting, spindle end sensor (main and sub)
setting, gear ratio (main and sub)

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B-65404EN/02 PREFACE

Group Description
Normal mode velocity control Velocity loop gain setting, and setting of filters (main and sub) for eliminating
vibration, resonance elimination filter
Orientation Stop position setting, velocity control setting (main and sub), position control
setting (main and sub), acceleration setting (optimum orientation, high-speed
orientation), resonance elimination filters
Rigid tapping Command setting, velocity control setting (main and sub), position control
setting, fine Acc./Dec. (16i series only)
Cs contour control Command setting, velocity control setting, position control setting, fine
Acc./Dec. (16i series only), resonance elimination filters
Spindle synchronous control Velocity control setting, position control setting, resonance elimination filters
Synchronous spindle Pole position detection, setting of AMR, current pattern, alarm detection level

Function categories
- Acceleration/deceleration
- Velocity control
- Rigid tapping
etc.

Tip hint of parameters

Display of Acc./Dec.
pattern

Set parameters

Parameter Window (example)

(2) Graph Window

• Data measurement display function
- Horizontal axis time mode
Normal mode, first order differential mode, second order differential mode, third order
differential mode (YT mode)
Feed smoothness measurement mode (DXDY mode)
Tangent speed display mode (XTVT mode)
Synchronous error measurement mode (Synchro mode)
- XY mode (Polar coordinates conversion and angular axis conversion also available)
- Arc path error zoom mode (Circle mode)
- Contour path error zoom mode (Contour mode)
- Frequency spectrum analysis mode (Fourier mode)
- Velocity loop and position loop frequency response mode (Bode mode)

For servo and spindle axes, data measurement is possible. (Data of both servo and spindle axes can
also be measured at the same time.)
* For a spindle that is not an αi spindle, measurement data is restricted.
Up to eight channels can be measured at the same time.
The shortest sampling period equals the current control period (for servo axes only).

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PREFACE B-65404EN/02

Displayed data can be printed, and its bitmap can be input via the clip board.

<1> Example of contour error measurement in Cs contour axis control

<2> Example of velocity loop frequency response

Graph Window (example)

• Smoothness compensation setting support functions

With this function, parameters of the smoothing compensation function, which improves the
smoothness of linear motor or synchronous built-in servo motor feed, can be determined easily.

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B-65404EN/02 PREFACE
(Screen example)

Magnetic
(Adjustment example) pole position

Before smoothing compensation adjustment After smoothing compensation adjustment

Torque command

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• Spindle Tuning functions

These functions support the automatic acquisition of data during the acceleration/deceleration of the
spindle, data during orientation, and data for frequency response.
(Acquired data examples)

Measurement of acceleration/deceleration performance (Speed - Acceleration characteristics)

Measurement of orientation (Orientation time)

Frequency response measurement

(3) Program Window

• Test program creation support function
- Linear acceleration/deceleration for one axis
- Circle
- Square
- Square with rounded corners
- Rigid tapping
- Cs contour
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B-65404EN/02 PREFACE

• Display of test program path

• Sending a test program to CNC memory and executing it
(The operator needs to press the start button.)
• Selecting a program in CNC memory and executing it
(The operator needs to press the start button.)
• Printing of a created program

Program
Settings of
command
conditions
path
- Distance
- Radius
- Velocity, etc.
Character
strings in
program
created
automatically

Program Window (example)

(4) Tuning Navigator

• Automatic tuning of velocity loop gain and filters
By measuring the frequency response of velocity control loop with moving axis, and the parameters
of the velocity loop gain and resonance elimination filters are determined automatically. It is also
possible to fine-tune the indicated parameter values and check the effect of the fine-tuning.

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PREFACE B-65404EN/02

Filter adjustment (example)

• Tuning for Automatic Backlash Acceleration function

By performing several circular operations, the parameters of the quadrant protrusion compensation
function are determined automatically.
With this function, circular quadrant protrusion adjustment can be performed both promptly and
easily.

• Tuning for time constant at rapid traverse

By measuring the velocity and torque while moving the axis at rapid traverse, the rapid traverse time
constant is determined automatically.
With this function, the rapid traverse time constant can be determined both promptly and easily.

• Support of high-speed and high-precision function setting

In a program of a square with rounded corners, the high-speed and high-precision function
parameters are tuned while overshoots are checked. There are tuning parameters for the high-speed
and high-precision function. FANUC provides recommended parameter sets (for speed priority and
precision priority), and an intermediate value between recommended parameter values can be
selected easily just by using a slider.

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B-65404EN/02 PREFACE

Tuning of the high-speed and high-precision function (example)

• Tuning support of unexpected disturbance torque detection function

The unexpected disturbance torque detection function monitors the load torque applied to the motor,
and if detecting an unexpected disturbance torque, it issues an alarm, and brings the axis to an
emergency stop. Tuning Navigator can automatically determine the parameters of the unexpected
disturbance torque detection function by estimating the disturbance during back-and-forth
acceleration/deceleration operation.

• Tuning support of interactive force compensation function

The interactive force compensation function suppresses the effect of the interactive force between
rotary and moving axes that occurs when the rotary axis with eccentric load is moved. Tuning
Navigator can automatically determine the parameters of the interactive force compensation function
by performing round trip operation on the moving axis and estimating the interactive force acting
between the two axes, the rotary and moving axes.

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PREFACE B-65404EN/02

CONTENTS OF THE PRODUCT PACKAGE

The product package of this software consists of the following:

Package for new purchase (A08B-9010-J900)

• One CD-ROM disk for FANUC SERVO GUIDE

Package for upgrade (A08B-9010-J901)

• One CD-ROM disk for FANUC SERVO GUIDE (for version upgrading)

Package for 3-D View Function (A08B-9010-J904)

• One hardware key

• One CD-ROM disk for FANUC SERVO GUIDE (for version upgrading)

NOTE
1 3-D View Function (option) comes with a CD for upgrade (A08B-9010-J901).
2 Also read the Release Note (READMEEN.TXT) of the product package.

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B-65404EN/02 TABLE OF CONTENTS

TABLE OF CONTENTS
SAFETY PRECAUTIONS............................................................................s-1
GENERAL WARNINGS AND CAUTIONS............................................................... s-1
WARNINGS AND CAUTIONS RELATING TO SERVO GUIDE .............................. s-2
PREFACE ....................................................................................................p-1
ORGANIZATION OF THIS MANUAL ......................................................................p-1
NOTATION CONVENTIONS...................................................................................p-2
FEATURES OF SERVO GUIDE .............................................................................p-3
CONTENTS OF THE PRODUCT PACKAGE........................................................p-12

I. USAGE
1 SETUP..................................................................................................... 3
1.1 ENVIRONMENT ............................................................................................ 3
1.1.1 Applicable CNC Models ..........................................................................................3
1.1.2 Necessary Hardware and Software Configuration ...................................................4
1.1.3 Related Software Series / Edition List......................................................................6
1.2 INSTALLATION AND UNINSTALLATION ..................................................... 9
1.2.1 Installation Procedure...............................................................................................9
1.2.2 Installing the Upgrading Version ...........................................................................10
1.2.3 Deleting Setting Information..................................................................................10
1.2.4 Uninstallation Procedure ........................................................................................10

2 CONNECTION AND COMMUNICATION WITH THE CNC................... 11

2.1 VIA ETHERNET........................................................................................... 11
2.1.1 Connection .............................................................................................................11
2.1.2 Setting of PC ..........................................................................................................12
2.1.3 Setting of CNC .......................................................................................................19
2.1.4 Setting of SERVO GUIDE.....................................................................................25
2.1.5 Additional Information about Ethernet Connection ...............................................25
2.2 VIA HSSB .................................................................................................... 26
2.2.1 Connection .............................................................................................................26
2.2.2 Setting of SERVO GUIDE.....................................................................................26

3 MAIN BAR............................................................................................. 27
3.1 MAIN BAR STRUCTURE ............................................................................ 27
3.2 EXPLANATION OF THE MENU .................................................................. 28
4 PARAMETER WINDOW ....................................................................... 29
4.1 OVERVIEW ................................................................................................. 29
4.2 EXPLANATION OF THE MENU .................................................................. 32
4.3 USAGE ........................................................................................................ 33
5 GRAPH WINDOW ................................................................................. 36
5.1 OVERVIEW ................................................................................................. 37
5.2 MENU .......................................................................................................... 40
5.3 TOOL BAR .................................................................................................. 42
5.4 USAGE ........................................................................................................ 43
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5.5 SHORTCUT................................................................................................. 44
5.6 CHANNEL SETTING ................................................................................... 45
5.6.1 Name and Function of Each Section of the Measure Setting Screen .....................45
5.6.2 Name and Function of Each Section of the Channel Setting Screen......................46
5.6.3 Channel Setting Procedure .....................................................................................48
5.6.4 Trigger Setting........................................................................................................51
5.6.5 PMC Signal Measurement......................................................................................53
5.6.6 I/O Link βi Axis Measurement...............................................................................58
5.6.7 Available Data at Servo Axes.................................................................................60
5.6.8 Available Data at Spindle Axes..............................................................................63
5.6.9 Available Data at I/O Link βi Axes........................................................................72
5.7 OPERATION SETTING ............................................................................... 73
5.7.1 Procedure................................................................................................................73
5.7.2 Basic Graph Mode..................................................................................................73
5.7.3 Available Operations ..............................................................................................74
5.7.4 Setting of Unit ........................................................................................................76
5.7.5 Load Reference Path ..............................................................................................76
5.8 SCALE SETTING ........................................................................................ 77
5.8.1 Overview ................................................................................................................77
5.8.2 Scale (Y-Time) .......................................................................................................77
5.8.3 Scale (XY)..............................................................................................................78
5.8.4 Scale (Circle)..........................................................................................................79
5.8.5 Scale (Fourier)........................................................................................................80
5.8.6 Scale (Bode) ...........................................................................................................80
5.9 EASY GRAPH MODE.................................................................................. 81
5.10 SPECIAL GRAPH DISPLAY MODES.......................................................... 82
5.10.1 Frequency Analysis (Fourier Transformation) Display Mode ...............................82
5.10.2 Frequency Response (Bode Diagram) Display Mode ............................................83
5.11 TOOL........................................................................................................... 83
5.11.1 Frequency Response (Velocity Loop) ....................................................................83
5.11.2 Frequency Response (Position Loop).....................................................................85
5.11.3 Smooth Compensation Setting Support..................................................................88
5.12 CURSOR FUNCTION.................................................................................. 90
5.12.1 Cursor Function (Y-Time)......................................................................................90
5.12.2 Cursor Function (XY) ............................................................................................91
5.12.3 Cursor Function (Fourier) ......................................................................................91
5.12.4 Cursor Function (Bode)..........................................................................................92
5.12.5 Cursor Operation Procedure ...................................................................................92
5.13 AREA EXPANDING FUNCTION ................................................................. 93
5.14 SPINDLE TUNING....................................................................................... 94
5.14.1 Measurement of Acceleration/Deceleration Performance......................................95
5.14.2 Measurement of Orientation.................................................................................101
5.14.3 Frequency Response Measurement ......................................................................107
5.15 SUPPLEMENTARY INFORMATION ......................................................... 113
5.15.1 Automatic Saving of Measurement Data..............................................................113
5.15.2 Measurement Data Value Scaling ........................................................................114
5.15.3 Measurement Data Time Shift..............................................................................116
5.15.4 Limitation of Measurement ..................................................................................117
5.15.5 Values Displayed in the Waveform Information Box ..........................................118
5.15.6 Cursor Positions after the Graph Is Expanded or Shrunk.....................................119
5.15.7 Initial Status of Cursor-Related Control...............................................................120
5.15.8 Tolerance Setting of Reference Data for Circular Interpolation ..........................120

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6 PROGRAM WINDOW ......................................................................... 122

6.1 OVERVIEW ............................................................................................... 122
6.2 MENU ........................................................................................................ 124
6.3 TOOL BAR ................................................................................................ 126
6.4 USAGE ...................................................................................................... 127
7 TUNING NAVIGATOR ........................................................................ 130
7.1 OVERVIEW ............................................................................................... 131
7.2 SERVO AXIS TUNING .............................................................................. 133
7.2.1 Initial Gain-Tuning...............................................................................................133
7.2.2 Automatic Filter-Tuning.......................................................................................141
7.2.3 Gain-Tuning .........................................................................................................149
7.2.4 Backlash Acceleration Tuning .............................................................................149
7.2.5 Tuning of Time Constant for Rapid Traverse ......................................................159
7.2.6 High-speed and High-precision Tuning ...............................................................165
7.2.7 Unexpected Disturbance Torque Detection..........................................................171
7.2.8 IFC Gain-Tuning ..................................................................................................182
7.3 SPINDLE AXIS TUNING ........................................................................... 190
7.3.1 Filter-Tuning ........................................................................................................190

II. CONCRETE EXAMPLES

1 CONCRETE EXAMPLES .................................................................... 199
1.1 TUNING OF THE TIME CONSTANT OF
ACCELERATION/DECELERATION IN RAPID TRAVERSE ..................... 200
1.1.1 Test Program ........................................................................................................200
1.1.2 Preparation for Measurement ...............................................................................202
1.1.3 Measurement ........................................................................................................204
1.1.4 Tuning of Parameters ...........................................................................................205
1.2 CONTOUR ERROR TUNING BY CIRCLE PATH MEASUREMENT ......... 207
1.2.1 Test Program ........................................................................................................207
1.2.2 Preparation for Measurement ...............................................................................209
1.2.3 Measurement ........................................................................................................210
1.2.4 Tuning of Parameters ...........................................................................................212
1.3 CIRCLE MEASUREMENT FOR AN ANGULAR AXIS ............................... 214
1.3.1 Test Program ........................................................................................................214
1.3.2 Preparation for Measurement ...............................................................................216
1.3.3 Measurement ........................................................................................................217
1.4 TUNING OF OVERSHOOTS BY MEASURING A SQUARE PATH .......... 220
1.4.1 Test Program ........................................................................................................220
1.4.2 Preparation for Measurement ...............................................................................222
1.4.3 Measurement ........................................................................................................223
1.4.4 Tuning of Parameters ...........................................................................................225
1.5 TUNING OF OVERSHOOTS BY MEASURING A SQUARE PATH WITH
ROUNDED CORNERS.............................................................................. 227
1.5.1 Test Program ........................................................................................................227
1.5.2 Preparation for Measurement ...............................................................................229
1.5.3 Measurement ........................................................................................................230
1.5.4 Tuning of Parameters ...........................................................................................232
1.6 TUNING OF RIGID TAPPING SYNCHRONOUS ERROR ........................ 234
1.6.1 Preparation on CNC .............................................................................................234
1.6.2 Test Program ........................................................................................................234
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1.6.3 Preparation for Measurement ...............................................................................236

1.6.4 Measurement ........................................................................................................237
1.6.5 Tuning of Parameters ...........................................................................................239
1.7 TUNING OF CONTOUR ERROR BY MEASURING A Cs CONTOUR
CONTROL PATH....................................................................................... 241
1.7.1 Test Program ........................................................................................................241
1.7.2 Preparation for Measurement ...............................................................................243
1.7.3 Measurement ........................................................................................................244
1.7.4 Tuning of Parameters ...........................................................................................248
1.8 ANALYSIS OF VIBRATION FREQUENCY DURING FEED AT
CONSTANT FEEDRATE ........................................................................... 250
1.8.1 Test Program ........................................................................................................250
1.8.2 Preparation for Measurement ...............................................................................252
1.8.3 Measurement ........................................................................................................253
1.9 MEASUREMENT OF THE VELOCITY LOOP FREQUENCY RESPONSE
OF A SERVO AXIS.................................................................................... 255
1.9.1 Preparation for Measurement ...............................................................................255
1.9.2 Measurement ........................................................................................................256
1.10 LINEAR MOTOR SMOOTHING COMPENSATION .................................. 257
1.10.1 Test Program ........................................................................................................257
1.10.2 Preparation for Measurement ...............................................................................259
1.10.3 Measurement and Parameter setting.....................................................................260

APPENDIX
A TROUBLESHOOTING ........................................................................ 267
A.1 GENERAL TROUBLE SHOOTING............................................................ 267
A.2 PARAMETER WINDOW............................................................................ 267
A.3 GRAPH WINDOW ..................................................................................... 268
A.4 PROGRAM WINDOW ............................................................................... 269
A.5 TUNING NAVIGATOR............................................................................... 270
A.6 SPINDLE TUNING..................................................................................... 271
B FUNCTION CORRESPONDENCE TABLE......................................... 272
B.1 SOFTWARE CORRESPONDENCE TABLE BY FUNCTION .................... 272

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I. USAGE
B-65404EN/02 USAGE 1.SETUP

1 SETUP
This chapter explains how to set up the operating environment of SERVO GUIDE and how to prepare
SERVO GUIDE for use.

1.1 ENVIRONMENT

1.1.1 Applicable CNC Models

This software supports the CNC models below. Before using the software, be sure to check if this
software can be used with the target CNC model, referring to the table below.

Table of CNC models and SERVO GUIDE editions supporting them

SERVO GUIDE editions supporting them
CNC models
3.00 or later 3.11 or later 4.20 or later 6.00 or later 7.30 or later 8.00 or later
Series 30i-B
Series 30i-B5
Not Not Not Not
Series 31i-B Supported. Supported.
supported. supported. supported. supported.
Series 32i-B
Series 35i-B
Series 30i-A
Series 31i-A5
Series 31i-A
Series 32i-A
Series 16i-MB Supported. Supported. Supported. Supported. Supported. Supported.
Series 16i-TB
Series 18i-MB5
Series 18i-MB
Series 18i-TB
Not
Series 18i-LNB Supported. Supported. Supported. Supported. Supported.
supported.
Series 21i-MB
Series 21i-TB
Supported. Supported. Supported. Supported. Supported. Supported.
Series 20i-FB
Series 20i-TB
Series 0i-MD
Series 0i-TD Not Not Not
Supported. Supported. Supported.
Series 0i Mate-MD supported. supported. supported.
Series 0i Mate-TD
Series 0i-MC
Series 0i-TC
Series 0i-TTC
Series 0i Mate-MC
Series 0i Mate-TC Supported. Supported. Supported. Supported. Supported. Supported.
Series 0i-MB
Series 0i-TB
Series 0i Mate-MB
Series 0i Mate-TB
Not Not Not Not Not
Power Motion i-A Supported.
supported. supported. supported. supported. supported.
Power Mate i-D
Supported. Supported. Supported. Supported. Supported. Supported.
Power Mate i-H

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1.SETUP USAGE B-65404EN/02

SERVO GUIDE editions supporting them

CNC models
3.00 or later 3.11 or later 4.20 or later 6.00 or later 7.30 or later 8.00 or later
Pulse input type Digital
Not Not
Servo Adaptor Supported. Supported. Supported. Supported.
supported. supported.
[A03B-0818-B121]

1.1.2 Necessary Hardware and Software Configuration

Operating this software requires the hardware and software configuration below.

Necessary hardware and software configuration

Item Description
Computer IBM PC/AT COMPATIBLE,
or
CNC display unit with PC functions (PANEL i )
OS Microsoft Windows 2000/XP/Vista/7 (Note 1, 2)
Supported language: Japanese, English, Chinese versions (Simplified, Traditional)
CPU Windows 7 : Pentium III 1GHz or higher recommended
Windows Vista : Pentium III 1GHz or higher recommended
Windows XP : Pentium III 500MHz or higher recommended
Windows 2000 : Pentium 200MHz or higher recommended
Memory Windows 7 : 512MBytes or more (1GB or more recommended)
Windows Vista : 512MBytes or more (1GB or more recommended)
Windows XP : 256MBytes or more (512MB or more recommended)
Windows 2000 : 128MBytes or more (256MB or more recommended)
Hard-disk space 50MBytes or more (Note 3)
(100MBytes on installing)
Display resolution SVGA (800*600) or higher (Note 4)
(XGA (1024*768) or higher is recommended) (Note 5)
Others Port of Ethernet (LAN) (in case of Ethernet connection)
A pointing device such as a mouse is required.
For browsing online help, Internet Explore 4.01 or later is required.

* Microsoft and Windows are trademarks of Microsoft Corporation in the United States.
* Other company and products name are either registered trademark or trademarks of each company.

NOTE
When opening multiple screens, allocate memory as large as possible.

(Note 1) Windows 95/98/Me/NT4.0 are not supported.

(Note 2) If 3-D View Function (option) is to be used, OpenGL1.4 or later is required. A USB port is
required to attach an OpenGL-compliant graphic card and a hardware key.
(Note 3) In addition, the space for storing measurement data is required.
(Note 4) Although SVGA also can be used, when two or more windows are opened simultaneously, it
becomes hard to see by window overlap.
(Note 5) If 3-D View Function (option) is to be used, 2-D and 3-D graphs cannot be viewed
simultaneously unless XGA or higher is used.

Apart from the above, the hardware configuration below may be required.

Other hardware configuration

Item Description
PCMCIA LAN card Used for an Ethernet connection. (Note 1, 2)
Use the FANUC-designated one (A02B-0281-K710).

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B-65404EN/02 USAGE 1.SETUP

Item Description
Coupler Used for an Ethernet connection. (Note 1)
It is commercially available, and can be obtained from a PC shop, etc.
Ethernet cable (cross) Used for an Ethernet connection. (Note 1)
It is commercially available, and can be obtained from a PC shop, etc.
Ethernet cable (straight) Used for an Ethernet connection. (Note 1)
It is commercially available, and can be obtained from a PC shop, etc.
Hub Used for an Ethernet connection. (Note 1)
It is commercially available, and can be obtained from a PC shop, etc.
HSSB board Required for an HSSB connection. (Note 1)
Use a FANUC-made HSSB board.
If Panel i is used, Panel i is provided with an HSSB function.
Printer Required to print acquired waveforms.

(Note 1)
[Ethernet connection (if not using a hub)]
The FANUC-supplied PCMCIA-LAN card comes with a dedicated connector on the card side and
a 1.5-m straight cable with an RJ45 male connector on the PC side. The PC and the CNC are
connected directly as shown below.

LAN card

(The cross type cable and coupler are commercially available from ordinary stores dealing in
personal computers.)

[Ethernet connection (if using a hub)]

When the PC and the CNC are connected via a hub, they are connected as shown in the figure
below. In this case, the coupler becomes unnecessary, but a straight type cable must be prepared.

LAN card

* If using the built-in Ethernet port, do not use a PCMCIA-LAN card but the RJ45 female
connector on the CNC.

[HSSB connection]
When HSSB is used, the CNC and the PC are connected using an optical cable as shown in the
figure below. So, no special connection must be added to use SERVO GUIDE.

* Also when a CNC display unit with a PC function is used, no special connection is
required.

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(Note 2) If the Windows CE-enabled PC function option of the Series 16i/18i/21i is used, this card is not
necessary because the PC and the CNC cannot be connected together with a LAN card. (Then
LAN card is not necessary, and use embedded Ethernet port behind CNC.)
If the Windows CE-enabled PC function option of the Series 30i is used, a connection with a
LAN card is also possible.
When the SERVO GUIDE is used with the Power Mate i, an Ethernet board must be inserted in
the CNC. In this case, the PCMCIA-LAN card is not necessary. Prepare the following:
- Fast Ethernet board (A02B-0259-J293)
- Fast Ethernet option (A02B-0259-J862)
- Ethernet software (A02B-0259-J555#6567)
- Expansion basic 1 function option (A02B-0259-J878)
- Expansion driver/library (A02B-0259-J847)

With the Pulse input type Digital Servo Adapter, the PCMCIA-LAN card cannot be used.
When the SERVO GUIDE is used with the Pulse input type Digital Servo Adapter, an Ethernet
board must be inserted in the CNC. Prepare the following:
- Fast Ethernet board (A02B-0259-J293)
- Ethernet function (A03B-0818-J909)
- Ethernet software (A02B-0259-J555#6567)

1.1.3 Related Software Series / Edition List

* With other than the series / edition combinations below, the SERVO GUIDE may operate, but its
operation is guaranteed with the combinations below.

(1) System software

CNC models and series / edition of system software
CNC models Series / Edition
Series 30i-B G301/01 or later, G311/01 or later, G321/01 or later, G331/01 or later
Series 30i-B5 G421/01 or later, G431/01 or later
Series 31i-B G401/01 or later, G411/01 or later
Series 32i-B G501/01 or later
Series 35i-B G601/01 or later
G001/23 or later, G011/23 or later, G021/23 or later,
G00A/01 or later, G01A/01 or later,G02A/01 or later,
G002/01 or later, G012/01 or later, G022/01 or later,
Series 30i-A
G003/01 or later, G013/01 or later, G023/01 or later,
G00C/01 or later, G01C/01 or later, G02C/01 or later,
G004/01 or later, G014/01 or later, G024/01 or later
G121/01 or later, G131/01 or later,
G123/01 or later, G133/01 or later,
Series 31i-A5
G12C/01 or later,G13C/01 or later,
G124/01 or later, G134/01 or later

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B-65404EN/02 USAGE 1.SETUP

CNC models Series / Edition

G101/01 or later, G111/01 or later,
Series 31i-A G103/01 or later, G113/01 or later,
G104/01 or later, G114/01 or later
Series 32i-A G201/01 or later, G203/01 or later, G204/01 or later
Series 16i-MB B0H1/05 or later, B0HA/01 or later, B0HK/01 or later, B0K1/01 or later, B0N1/01 or later
Series 16i-TB B1H1/06 or later, B1HA/01 or later, B1HK/01 or later, B1K1/01 or later, B1N1/01 or later
Series 18i-MB5 BDH5/01 or later, BDHE/01 or later, BDK5/01 or later, BDN5/01 or later
Series 18i-MB BDH1/05 or later, BDHA/01 or later, BDHK/01 or later, BDK1/01 or later, BDN1/01 or later
Series 18i-TB BEH1/06 or later, BEHA/01 or later, BEHK/01 or later, BEK1/01 or later, BEN1/01 or later
Series 18i-LNB BDG3/12 or later
Series 21i-MB DDH1/05 or later, DDHA/01 or later, DDHK/01 or later, DDK1/01 or later
Series 21i-TB DEH1/06 or later, DEHA/01 or later, DEHK/01 or later, DEK1/01 or later
Series 20i-FB D0H1/01 or later
Series 20i-TB D1H1/01 or later
Series 0i-MD D4F1/01 or later
Series 0i-TD D6F1/01 or later
Series 0i Mate-MD D5F1/01 or later
Series 0i Mate-TD D7F1/01 or later
Series 0i-MC D4B1/01 or later, D4C1/01 or later
Series 0i-TC D6B1/01 or later, D6C1/01 or later
Series 0i-TTC D6D1/01 or later
Series 0i Mate-MC D511/01 or later, D521/01 or later
Series 0i Mate-TC D711/01 or later, D721/01 or later
Series 0i-MB D4A1/01 or later
Series 0i-TB D6A1/01 or later
Series 0i Mate-MB D501/01 or later
Series 0i Mate-TB D701/01 or later
Power Motion i-A 88H0/01 or later
Power Mate i-D 88E0/18 or later, 88E1/01 or later, 88E3/01 or later
Power Mate i-H 88F2/01 or later, 88F3/01 or later
Pulse input type Digital
Servo Adaptor 881H/05 or later
[A03B-0818-B121]

NOTE
With the CNCs in the below, the following system software edition is required to
measure rigid tapping synchronous errors:
Series 16i -TB B1H1/15 or later
Series 18i -TB BEH1/15 or later
Series 21i -TB DEH1/15 or later

* For system software series / editions supporting I/O Link βi, see the function correspondence table
in the appendix.

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(2) FOCAS1/2-related software

CNC models and series / edition of FOCAS1/2-related software
FOCAS1/2-related
CNC models Specification Series / Edition
software
Series 30i/31i/32i/35i-B.
A02B-0323-J571#658M 658M/01 or later
Power Motion i-A
Series 30i/31i/32i-A A02B-0303-J571#656E 656E/06 or later
656A/03 or later (except for
656A/07)
Series 16i/18i/21i-B A02B-0281-J571#656A
656A/13 or later (supports I/O
Link βi)
Control software for 658E/01 or later
embedded Ethernet Series 0i-D A02B-0319-J571#656E 658E/02 or later (support
function stand-alone type)
Series 0i-C, 20i-B A02B-0281-J571#656V 656V/01 or later
6567/01 or later
Power Mate i-D, i-H A02B-0259-J555#6567 6567/17 or later (supports I/O
Link βi)
Pulse input type Digital
Servo Adaptor A02B-0259-J555#6567 6567/19 or later
[A03B-0818-B121]

Control software for 656A/05 or later (except for

Series 0i-B A02B-0299-J571#656A
PCMCIA LAN card 656A/07)

Software for Ethernet Series 30i/31i/32i-A A02B-0303-J572#656F 656F/07 or later

communication
management Series 0i-D A02B-0319-J572#658F 658F/01 or later
Software for 15" LCD 60VB/1.3 or later
control (if using a 15" A02B-0207-J595#60VB 60VB/1.7 or later (supports I/O
LCD) Series 30i/31i/32i-A Link βi)
60VF1.0 or later (supports I/O
A02B-0207-J903#60VF
Link βi)
Windows CE.NET
A02B-0207-J594 1.2 or later
customized OS
1.5 or later
Windows CE.NET Series 30i/31i/32i-A A02B-0207-J808 1.7 or later (supports I/O Link
FOCAS2/HSSB (When personal computer βi)
library function option with
A02B-0207-J875 1.0 or later
WindowsCE is used)
Windows CE.NET
standard application/ A02B-0207-J809 1.2 or later
library

* For FOCAS1/2-related software series / editions supporting I/O Link βi, see the function
correspondence table in the appendix.

(3) Servo software

CNC models and series / edition of servo software
Target CNC model Series / Edition of servo software
Series 30i/31i/32i/35i-B, Power Motion i-A 90G0/06 or later (*)
Series 30i/31i/32i-A 90D0/03(C) or later, 90E0/03(C) or later (*)
90B0/06(F) or later (Tuning Navigator supported by 90B0/20 or
later (*))
Series 16i/18i/21i/20i/0i/Power Mate i
90B6/01(A) or later, 90B5/01(A) or later, 90B1/01(A) or later (*)
90B8/01(A) or later, 90C5/01(A) or later, 90E5/01(A) or later (*)

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Target CNC model Series / Edition of servo software

Series 21i/0i/Power Mate i 9096/01(A) or later (Tuning Navigator not supported)

* For the editions supporting each function of Tuning Navigator, see the function correspondence
table in the appendix.

(4) Spindle software

CNC models and series / edition of spindle software
Target CNC model Series / Edition of spindle software
Series 30i/31i/32i/35i-B 9DA0/01 or later (for 30i-B spindle)
9D70/02 or later, 9D80/01 or later, 9D90/01 or later
Series 30i/31i/32i-A
(for αi/βi series spindle)
9D50/02 or later (for αi/βi series spindle)
Series 16i/18i/21i/0i/Power Mate i 9D20/11 or later (for α series spindle)
(For an α spindle, there are some limitations on data acquisition.)

* For the editions supporting each function of Tuning Navigator and spindle tuning, see the function
correspondence table in the appendix.

1.2 INSTALLATION AND UNINSTALLATION

This section explains how to install and uninstall SERVO GUIDE. Login with an account having the
administrator right must be performed before software setup.

1.2.1 Installation Procedure

When using SERVO GUIDE for the first time, install it according to the following procedure:

(1) Insert the installation disk (A08B-9010-J900) of SERVO GUIDE in the CD drive.
(2) Open the CD drive from [My Computer], and double-click "Setup.exe" to perform setup.

NOTE
When Setup.exe is executed with a previous SERVO GUIDE version installed,
the files of the previous version are all deleted and updated to the latest files.
(Version upgrading)

(3) SERVO GUIDE setup starts, and the [Select Language] screen appears. Select the language of the
OS used, and click the <OK> button.

NOTE
As the display language of the software, the language of the OS used or English
can be selected. (When the language of the OS is English or is a language not
supported, only English can be selected in SERVO GUIDE.)

(4) Perform subsequent operations according to the instructions of the installer.

* Restart may be required.

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1.2.2 Installing the Upgrading Version

The user who uses a previous SERVO GUIDE version can upgrade SERVO GUIDE to the latest version
by purchasing the upgrading software version.

NOTE
If a previous software version is not installed in the PC correctly, the upgrading
software version cannot be installed.

If the previous SERVO GUIDE version is installed in the PC correctly, install the upgrading version by
observing the following procedure:

(1) Insert the SERVO GUIDE installation disk (A08B-9010-J901) in the CD drive.
(2) Open the CD drive from [My Computer], and double-click "Setup.exe" to perform setup.

1.2.3 Deleting Setting Information

SERVO GUIDE stores settings (such as an IP address) are made during operation in the registry so that
they can be used for the next execution. To erase setting information to restore the initial state, execute
Cleaner.exe.

Cleaner.exe can be used from the [FANUC SERVO GUIDE] group in the start menu.

When more than one user name is used for login, setting information remains in the environments of
other than the user of which name is used for executing Cleaner.exe.

NOTE
Setting information is stored under the following registry key:
HKEY_CURRENT_USER\Software\FANUC\SERVO GUIDE\

1.2.4 Uninstallation Procedure

(1) Ending SERVO GUIDE
SERVO GUIDE cannot be uninstalled while SERVO GUIDE is running. End SERVO GUIDE
before starting uninstallation.
(2) Erasing setting information
Execute [Cleaner] in the [FANUC SERVO GUIDE] group in the [Start] menu. This erases SERVO
GUIDE setting information stored in the registry.
(3) Starting the uninstaller
Select "FANUC SERVO GUIDE" from [Add or Remove Programs] on the Control Panel, and press
the <Change or Remove Programs> button.

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2 CONNECTION AND COMMUNICATION

WITH THE CNC
Ethernet and HSSB connections are available as means for connecting a PC with this software installed to
a CNC. This chapter explains each connection method in this order.

2.1 VIA ETHERNET

2.1.1 Connection
The PCMCIA-LAN card, which is provided by FANUC, includes 1.5m special cable which has exclusive
connector for card side and RJ45 male connector for PC side. The connection way is different according
to using Hub or not using Hub.

Without Hub

With Hub

* When you use embedded Ethernet port on CNC, you don't have to use PCMCIA-LAN card and
please use RJ45 female connector on CNC.

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2.1.2 Setting of PC
Windows Vista/7
It’s necessary to do some setting both on PC and CNC because SERVO GUIDE communicate with CNC
by using PCMCIA-LAN card.

• When your PC is usually connected to LAN,

1. In the Start menu, right-click [Network], select [Properties], and open [Network and Sharing
Center].

2. Click [Manage network connections] and open the [Network Connections] folder.

3. Right-click the [Local Area Connection] icon, select [Properties], and display the [Local Area
Connection Properties] dialog box. If, in this step, the User Account Control (UAC) dialog box
appears, continue operation by following the instructions in the dialog box.

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4. Select [Internet Protocol Version 4 (TCP/IPv4)] in the list box. And press <Properties>.

5. [Internet Protocol Version 4 (TCP/IPv4) Properties] will be shown. Remember the value of "IP
address" and "Subnet mask".

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6. Shut down the dialog by press <Cancel>. (You don't have to change any item.)

• When your PC is not usually connected to LAN,

1. First, install appropriate software so that the LAN card or built-in LAN connector on the PC
side can operate. (For the installation method, see the operator’s manual of the LAN card or
PC.)
2. See [Internet Protocol Version 4 (TCP/IPv4) Properties] dialog like above.
3. Set following value.
IP address ：192.168.1.2
Subnet mask ：255.255.255.0
4. Shut down the dialog by press <OK>.

After completing the setting of the PC, proceed to the setting of the CNC.

Windows XP
It’s necessary to do some setting both on PC and CNC because SERVO GUIDE communicate with CNC
by using PCMCIA-LAN card.

• When your PC is usually connected to LAN,

1. Press right click on [My Network Place] on your desktop. And after that, select [Properties].
You can see the folder of [Network Connections].

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2. Press right click on [Local Area Connection] and select [Properties]. You can see the dialog of
[Local Area Connection Properties].

3. Select [Internet Protocol (TCP/IP)] in the list box. And press <Properties>.

4. [Internet Protocol (TCP/IP) Properties] will be shown. Remember the value of "IP address" and
"Subnet mask".

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5. Shut down the dialog by press <Cancel>. (You don't have to change any item.)

• When your PC is not usually connected to LAN,

1. First, install appropriate software so that the LAN card or built-in LAN connector on the PC
side can operate. (For the installation method, see the operator’s manual of the LAN card or
PC.)
2. See [Internet Protocol (TCP/IP) Properties] dialog like above.
3. Set following value.
IP address ：192.168.1.2
Subnet mask ：255.255.255.0
4. Shut down the dialog by press <OK>.

After completing the setting of the PC, proceed to the setting of the CNC.

Windows 2000
It’s necessary to do some setting both on PC and CNC because SERVO GUIDE communicate with CNC
by using PCMCIA-LAN card.

• When your PC is usually connected to LAN,

1. Press right click on [My Network Place] on your desktop. And after that, select [Properties].
You can see the folder of [Network and Dial-up Connections].

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2. Press right click on [Local Area Connection] and select [Properties]. You can see the dialog of
[Local Area Connection Properties].

3. Select [Internet Protocol TCP/IP] in the list box. And press <Properties>.

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4. [Internet Protocol (TCP/IP) Properties] will be shown. Remember the value of "IP address" and
"Subnet mask".

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5. Shut down the dialog by press <Cancel>. (You don't have to change any item.)

• When your PC is not usually connected to LAN,

1. First, install appropriate software so that the LAN card or built-in LAN connector on the PC
side can operate. (For the installation method, see the operator’s manual of the LAN card or
PC.)
2. See [Internet Protocol (TCP/IP) Properties] dialog like above.
3. Set following value.
IP address : 192.168.1.2
Subnet mask : 255.255.255.0
4. Shut down the dialog by press <OK>.

After completing the setting of the PC, proceed to the setting of the CNC.

2.1.3 Setting of CNC

Series 30i, 31i, 32i, 0i-D, Power Motion i-A
1. Insert the PCMCIA-LAN card in the card slot on the front of the CNC display unit.

2. Press <SYSTEM> on MDI keys. And press [>] soft key several times. You can see [EMBED],
[PCMCIA LAN], [(OPRT)] on the soft key menu.

3. Press [PCMCIA LAN], then press [COMMON]. If the display is [EMBEDDED], press [(OPRT)] →
[EMB/PCMCIA] → [EXECUTE]. The available device must become PCMCIA.

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4. The initial setting of CNC is as follows.

IP ADDRESS: 192.168.1.1
IP ADDRESS: 255.255.255.0

<1> When your PC is not usually connected to LAN, we think you set “192.168.1.xxx” as IP
address. If it’s correct, you don’t have to change any setting on this display.
<2> When your PC is usually connected to LAN, change the setting of IP address of CNC
according to the IP address of your PC.
Set same value as your PC as SUBNET MASK
For IP address, set same value as your PC at the place where SUBNET MASK is set “255”.
And you can set arbitrary value at the place where SUBNET MASK is set “0”. (But the value is
different from your PC.)

Example) Your PC has "190.0.3.1" as IP address and "255.255.0.0" as subnet mask.

IP ADDRESS: 190.0.3.2 ← You can set any other value among 190.0.xxx.ooo
(But xxx.ooo=3.1 is not acceptable.)
SUBNET MASK: 255.255.0.0

5. See following screen by press [FOCAS2] soft key.

6. Set "8193" as PORT NUMBER (TCP).

7. Note down the IP ADDRESS, SUBNET MASK, and PORT NUMBER (TCP) set in the CNC. It's
necessary to do the setting of SERVO GUIDE.

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NOTE
Even if the Windows CE-enabled PC function option of the FS30i, 31i, or 32i is
used, the CNC can be connected to the PC by using the PCMCIA-LAN card.

Series 16i, 18i, 21i, 20i, 0i-B/C

1. Insert the PCMCIA-LAN card in the card slot on the front of the CNC display unit.
(When using the 0i-B, insert the PCMCIA LAN card in the card slot of the CNC.)

2. Press <SYSTEM> on MDI keys. And press [>] soft key several times. You can see [ETHPRM],
[ETHMNT], [(OPRT)] on the soft key menu.

3. Press [ETHPRM]. And confirm the display of [PCMCIA] as Available Ethernet.

If the display is [EMBEDDED], press [ETHPRM] → [OPRT] → [SWITCH] → {PCMCIA} →
[EXEC] → [RETURN].

4. Press [PCMCIA] soft key on the display which shows [Available Ethernet], [PCMCIA].

5. The initial setting of CNC is as follows.

IP ADDRESS: 192.168.1.1
SUBNET MASK: 255.255.255.0

<1> When your PC is not usually connected to LAN, we think you set “192.168.1.xxx” as IP
address. If it’s correct, you don’t have to change any setting on this display.
<2> When your PC is usually connected to LAN, change the setting of IP address of CNC
according to the IP address of your PC.
Set same value as your PC as SUBNET MASK
For IP address, set same value as your PC at the place where SUBNET MASK is set “255”.
And you can set arbitrary value at the place where SUBNET MASK is set “0”. (But the value is
different from your PC.)

Example) Your PC has "190.0.3.1" as IP address and "255.255.0.0" as subnet mask.

IP ADDRESS: 190.0.3.2 ← You can set any other value among 190.0.xxx.ooo
(But xxx.ooo=3.1 is not acceptable.)
SUBNET MASK: 255.255.0.0

6. See following display by press <PAGE> key.

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7. Set "8193" as PORT NUMBER (TCP).

8. Note down the IP ADDRESS, SUBNET MASK, and PORT NUMBER (TCP) set in the CNC. It's
necessary to do the setting of SERVO GUIDE.

NOTE
If the Windows CE-enabled PC function option of the FS16i, 18i, or 21i is used,
the CNC cannot be connected to the PC, using the PCMCIA-LAN card. Use
embedded Ethernet port for the CNC. (Of course, use internal LAN port for the
cable connection.)

Power Mate i
With the Power Mate i, the PCMCIA-LAN card cannot be used.
When the SERVO GUIDE is used with the Power Mate i, an Ethernet board must be inserted in the CNC.
Prepare the following:
- Fast Ethernet board (A02B-0259-J293)
- Ethernet function (A02B-0259-J862)
- Control software for Ethernet function (A02B-0259-J555#6567)
- Expansion basic 1 function (A02B-0259-J878)
- Expansion driver/library function (A02B-0259-J847)

1. Press <SYSTEM> on MDI keys. And press [>] soft key several times. You can see [ETHPRM],
[ETHMNT], [(OPRT)] on the soft key menu.
2. Press [ETHPRM].

3. Set an IP address and a subnet mask. When the CNC is shipped, no IP address is set.
Change the setting of IP address of CNC according to the IP address of your PC.

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 2.CONNECTION AND
B-65404EN/02 USAGE COMMUNICATION WITH THE CNC
Set same value as your PC as SUBNET MASK
For IP address, set same value as your PC at the place where SUBNET MASK is set "255". And you
can set arbitrary value at the place where SUBNET MASK is set "0". (But the value is different from
your PC.)

Example) Your PC has "190.0.3.1" as IP address and "255.255.0.0" as subnet mask.

IP ADDRESS: 190.0.3.2 ← You can set any other value among 190.0.xxx.ooo
(But xxx.ooo=3.1 is not acceptable.)
SUBNET MASK: 255.255.0.0

4. See following display by press <PAGE> key.

5. Set "8193" as PORT NUMBER (TCP).

6. Note down the IP ADDRESS, SUBNET MASK, and PORT NUMBER (TCP) set in the CNC. It's
necessary to do the setting of SERVO GUIDE.

NOTE
When the system has no display unit, make Ethernet settings by using the rotary
switch, 7-segment LED indicators, and push switch of the CNC.
For details on the setting method, refer to "FANUC Power Mate i-MODEL D/H
Maintenance Manual" (B-63175EN).

Pulse input type DSA

If using the SERVO GUIDE with the pulse input type Digital Servo Adapter, prepare the following:
- CNC software (A03B-0818-H511#881H) : 881H/05 or later
- Fast Ethernet board (A02B-0259-J293)
- Ethernet function (A03B-0818-J909)
- Control software for Ethernet function (A02B-0259-J555#6567) : 6567/19 or later

Set the IP address of the CNC in either of the following ways:

• Setting of Ethernet function parameters

• Setting of Ethernet fixed address

• For the setting of Ethernet function parameters

1. In the DPL/MDI parameter screen, set the parameters of the Ethernet function. Set parameters
Nos. 704 to 726 and finally set 1 to bit 0 of parameter No. 727. If the setting fails, bit 0 of
parameter No. 727 returns to 0; correct the parameters and retry.

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2. CONNECTION AND
COMMUNICATION WITH THE CNC USAGE B-65404EN/02

Parameter No. Description

704-707 IP address
712-715 Subnet mask
720-723 IP address of router
724 TCP port number
725 UDP port number
726 Time interval
727#0 1: Setting of the Ethernet parameter is completed.

2. Note down the IP ADDRESS, SUBNET MASK, and PORT NUMBER (TCP) set in the pulse
input type DSA. It's necessary to do the setting of SERVO GUIDE.

• For the setting of Ethernet fixed address

1. In normal operation, the following can be set by using the 7-segment LED and push-button
switch, it is able to set Ethernet fixed address. For details of the operation method, refer to
"APPENDIX E: DISPLAY AND MAINTENANCE OPERATIONS ON THE MAIN UNIT OF
THE Pulse Input Type DSA" of the CNC maintenance manual (B-64423EN).

First Second Third Fourth Explanation

0 Finish this operation
0 Return to the first selection
0 Return to the second selection
0 Return to the third selection
7 1 3 1 Set a fixed address in the Ethernet board
F Finish all operations
F Finish all operations
F Finish all operations

The fixed address is as follows.

IP address : 192.168.1.1
Subnet mask : 255.255.255.0
TCP port number : 8193
UDP port number : 0
Time interval :0

2. Note down the IP ADDRESS, SUBNET MASK, and PORT NUMBER (TCP) set in the pulse
input type DSA. It's necessary to do the setting of SERVO GUIDE.

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 2.CONNECTION AND
B-65404EN/02 USAGE COMMUNICATION WITH THE CNC

2.1.4 Setting of SERVO GUIDE

Display following dialog by press [Comm...] on Main Bar.

• When the <Default> button is pressed, the values factory-set for the CNC (IP address = 192.168.1.1,
Port No. = 8193) are set.
• When you change IP address on CNC, change above setting according to the setting on CNC.
• Set wait time for Timeout. (The unit is sec.)
We think that 2 or 3 is enough.
• Press <Test> after you connect between PC and CNC and set all above items. You'll see "OK" when
they are communicating.
• If you see "NG" at the test, confirm following items.
- Are the kind of cables correct or not ? (cross or straight)
- Are the settings of IP address and Subnet mask correct both on CNC side and PC side.
- Are the above settings of SERVO GUIDE correct ?

2.1.5 Additional Information about Ethernet Connection

• SERVO GUIDE assumes that for Ethernet connection, the PCMCIA-LAN card is inserted in the
PCMCIA card slot on the front of the CNC. However you can use embedded Ethernet port, which is
on the back of CNC. In this case switch "AVAILABLE ETHERNET" to "EMBEDDED" on
[ETHPRM] screen.

• When a CNC with personal computer function option with Windows (16i, 18i, 21i, 30i, 31i, 32i) or
a CNC with personal computer function option with WindowsCE (16i, 18i, 21i) is used, Ethernet
connection between the CNC and the PC cannot be made by inserting the PCMCIA-LAN card in the
PCMCIA card slot on the front of the CNC. Switch "AVAILABLE ETHERNET" to
"EMBEDDED".
When a CNC with personal computer function option with WindowsCE.NET (30i, 31i, 32i) is used,
on the other hand, Ethernet connection can be made by inserting the PCMCIA-LAN card in the
PCMCIA card slot on the front of the CNC.

• For a machine whose built-in Ethernet port is connected to a LAN in a factory in its normal use, the
SERVO GUIDE can be operated by connecting the PC to the HUB in the factory, using a straight
cable.

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2. CONNECTION AND
COMMUNICATION WITH THE CNC USAGE B-65404EN/02

In this case, make sure that the IP address of the PC to be connected does not conflict with any of the
other devices (PCs, printers, and machine tools) in the factory.

• Embedded Ethernet and PCMCIA Ethernet are mutually exclusive.

For a machine that is normally used by connecting it to the LAN of a plant through the embedded
Ethernet, when the PCMCIA Ethernet is enabled to use SERVO GUIDE, the Ethernet on the
embedded port stops service. As a result, LAN services using the embedded port are not available
while SERVO GUIDE is being used.

2.2 VIA HSSB

2.2.1 Connection
When HSSB is used, the CNC and PC are connected using an optical cable as shown in the figure below.
So, no special connection must be added to use SERVO GUIDE.

* Similarly, when SERVO GUIDE is installed in a CNC (16i, 18i, 21i, 30i, 31i, 32i) with personal
computer function option with Windows, no special connection must be added.

2.2.2 Setting of SERVO GUIDE

Click [HSSB] button on the communication setting dialog, and select CNC node name to connect.

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B-65404EN/02 USAGE 3.MAIN BAR

3 MAIN BAR

The Main Bar is displayed first when the SERVO GUIDE is started.
The three windows used for adjustments (the Parameter Window, the Graph Window, and the Program
Window) and Tuning Navigator are started from the Main Bar. Setting of communication with the CNC
is also started from the Main Bar.

3.1 MAIN BAR STRUCTURE

<1> <2> <3> <4> <5> <6>

<1> <Parameter>
Start Parameter Window.

<2> <Graph>
Start Graph Window.

<3> <Program>
Start Program Window.

<4> <Navigator...>
Start Tuning Navigator.

<5> <Comm...>
Start dialog for setting of the target NC.

<6> Status display

Display the IP address of the CNC with which SERVO GUIDE communicates, and the
communication status.

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3.MAIN BAR USAGE B-65404EN/02

3.2 EXPLANATION OF THE MENU

When you press right click on Main Bar, you can see the following menu.

Menu Description
[Top], [Bottom] Specify the place of Main Bar.
[Communication] Start dialog for setting of the target CNC.
[Parameter Window] Start Parameter Window.
[Graph Window] Start Graph Window.
[Program Window] Start Program Window.
[Auto Tuning] Start Tuning Navigator.
[AutoHide] Specify the auto-hide mode of Main Bar.
[Always on top] Specify the pile of windows.
[Language] Start dialog for setting of the language. The support languages are English,
Japanese, Chinese (Simplified character) and Chinese (Traditional character). You
can choose the language, English or OS language.
[Option] Select the function to use.
[Help] Show Online Help.
[About] SERVO GUIDE Show about dialog.
[Exit] Terminate SERVO GUIDE.

If you select [Exit], all windows of SERVO GUIDE will be shut down at the same time. There may be
some [Save] dialogs.
The positions and sizes of windows that are open when [Exit] is selected are saved in the registry, and
these values are used when individual windows are opened when SERVO GUIDE is operated next.

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B-65404EN/02 USAGE 4.PARAMETER WINDOW

4 PARAMETER WINDOW

The Parameter Window is used to classify parameters on the CNC by function and display them.
This window indicates the physical units of parameters explicitly and shows graphs to help the user
understand the meanings of parameters.
When the CNC is connected, parameters may be changed directly from this window.

4.1 OVERVIEW
Starting the Parameter Window
When you press <Parameter> on Main Bar, the following dialog box is shown.

• <From File> button

When you press <From File>, the existing parameter file can be opened.
When you press <From File>, the dialog box below appears.

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4.PARAMETER WINDOW USAGE B-65404EN/02

Before opening a file, select a CNC type from the Select CNC type combo box and specify a CNC
ID information file (CNCIDNUM.TXT). If no CNC type is selected, the CNC type is automatically
detected from the parameter format, parameter Nos., and so on, but the type may not be determined
as a single one. If no CNC ID information file is specified, the options may not be reflected
properly.

Procedure for acquiring a CNC ID information file

A CNC ID information file (CNCIDNUM.TXT) can be acquired with the procedure below.

1. Enter the EDIT mode or state emergency stop.

2. Press the function key <SYSTEM> on the MDI.
3. Press the continuous menu key several times to display the soft key [ID-INF]. Press the soft key
[ID-INF].

4. Press the soft key [(OPRT)].

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B-65404EN/02 USAGE 4.PARAMETER WINDOW
5. Press the soft key [PUNCH].

6. Press the soft key [EXEC].

NOTE
1 If an online connection is made to the CNC, the SERVO GUIDE automatically
acquires two files, one for parameters and the other for CNC ID information. For
CNC software editions that can acquire a CNC ID information file, see the
function correspondence table in the appendix.
2 A CNC ID information file is saved with the parameter file name plus the
extension (cncidnum).
Example) parameter.prm → parameter.cncidnum

• <Online> button
When you press <Online> during connecting to CNC (ONLINE mode), the parameters inside CNC
are loaded into the Parameter Window.

NOTE
Use the CNC in the MDI mode for purposes of parameter reading and writing.

Name of each part

The name of each part about the Parameter Window is shown.

: Title bar
Parameter file name is shown with connection status to CNC and with the target path. Parameter
window decides the target path by the axis selection.

: Servo or Spindle selection

Basic functional selection about Servo or Spindle
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4.PARAMETER WINDOW USAGE B-65404EN/02

: Functional group selection combo-box

Major category selection in the functional group (Some group can not be shown by option setting.)

: Functional group selection tab

Minor category selection in the functional group (Some group can not be shown by option setting.)

: Axis selection combo-box

Axis selection (Axis name for servo axis and S1, S2, ..., for spindle axis)
In multi-path control system, all axes are shown in numerical order of the path.

: Parameter lock checkbox

To change parameters, turn OFF this checkbox. Immediately after a connection to the CNC, the
parameters are locked for safety.

: Hint display checkbox

If the mouse pointer is applied to an item, tool tip hints about parameter number and explanation will
be displayed. If you don't want hints, turn off this checkbox.

NOTE
For each adjustment parameter, the setting and a rough guide to the adjustable
range are displayed. The values displayed here provide a rough guide to
adjustment with a general machine assumed, and we do not guarantee the
performance of the machine.
Values displayed are based on the parameter manuals (B-65270EN and
B-65280EN).

4.2 EXPLANATION OF THE MENU

The contents of the menu in the Parameter Window are explained.

[File]
• New ([Ctrl]+[N])
Two or more Parameter Windows can be opened simultaneously. If this menu is chosen, another
Parameter Window will be shown and a new parameter file can be opened.
• Read ([Ctrl]+[R])
A parameter file is read into the window which is used now. (It becomes OFFLINE mode)

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B-65404EN/02 USAGE 4.PARAMETER WINDOW

NOTE
This command cannot read a parameter file of a CNC model with a different
parameter format. To read parameters of a different CNC model, therefore, use
the [New] command.

• Close ([Ctrl]+[C])
The window used now is closed.
• Reload ([Ctrl]+[Q])
The parameters are reload from CNC. If you changed the parameters in offline mode, they are
cancelled, and carried out the rereading of parameters on CNC.
• Disconnect to CNC ([Ctrl]+[B])
The mode of Parameter Window changes from online to offline.
• Reconnect
This menu is made to restore, when a communication error occurs by a certain reason, while using it
in ONLINE mode. (Example: power-off parameters are changed choose this menu after turning off /
turning on NC.)
• Save ([Ctrl]+[S])
Save the file with overwriting
• Save As
Save the file with another name. The type of the file is text format. (The default extension is *.prm.)
• Print ([Ctrl]+[P])
This menu can be available only in [Parameter Table] which is in the functional group selection
combo-box. This realizes the print like spreadsheet.
• Exit
Exit application.

[Edit]
• FS16 Init (Series 16i only)
Clear all parameters read.
• Read Standard Parameter
The standard parameters for every motor are initialized by the parameter sets which are included in
servo software.

[Move]
• Jump to Parameter (Ctrl+G)
This can be used only if [Parameter Table] is chosen in the functional group selection combo-box. It
jumps to the place of the specified parameter number.

[Window]
• New Window (Ctrl+W)
Two or more Parameter Windows can be opened with the same parameter set. For example, when
tuning the feed-forward coefficient, it is convenient to see the parameter of both the X-axis and the
Y-axis at once. This is useful for the purpose.

4.3 USAGE
This section explains how to use the Parameter Window.

Using in ONLINE mode

In ONLINE mode, the change of parameter is reflected to NC at the following timing.

• When a spin button is pushed.

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4.PARAMETER WINDOW USAGE B-65404EN/02

• When the [Return] key is pushed after changing the contents in edit box directly.
• When the focus moves to other item after changing the contents in edit box directly.
• When a radio button and a check box are pushed.

The usage of a parameter table display

If you want to change parameters other than the categorized parameter groups, Choose [Parameter Table]
in the functional group selection combo-box.
The change of parameter in the table can be also reflected to CNC.

• In case of bit type parameter

By single click, 8 bits check box will open as follows. Put a required bit here and push [Return] key.

• In case of value type parameter

By double click, a parameter becomes editable. Push [Return] key after editing value.

• In case of multi path system

Path selection tabs are displayed at right bottom of the parameter table screen.
Right column of parameter number describes array type of the parameter. (A:axis, S:spindle, L:path,
T:machine group)

- FS16i
Parameters are treated separately for each path.

- FS30i
Although there is one set of parameters in the entire system, they can be displayed for each
path.

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B-65404EN/02 USAGE 4.PARAMETER WINDOW
Printing is also supported in the parameter table display. Select [Print] from [File] menu, and specify the
parameter number to print in the following dialog box.

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5.GRAPH WINDOW USAGE B-65404EN/02

5 GRAPH WINDOW

The Graph Window allows use of various drawing modes for acquiring many types of data such as the
positions and torque values of servo axes and spindle axes and analyzing measurement data.
It also allows the measurement of velocity loop and position loop frequency response, assistance in
setting the smoothing compensation parameters for linear motors and synchronous built-in servo motors,
and PMC signal acquisition, among others.
3-D View function (option) allows display of a 3-D graph.

3-D View function

This function enables display of a 3-D graph by specifying the data measured with the SERVO GUIDE as
X, Y, and Z coordinate data.
It can display both 3-D graph and time-base waveform in the single Graph Window at the same time,
making it easy to relate a point in the 3-D graph to a point on the time axis.
For example, this function can display a 3-D graph of a tool path by observing position data on the X-, Y-,
and Z-axes with a machining center. It also enables specification of a point on a tool path and
confirmation of the waveform on each servo axis that relates to the point.
The function also supports 5-axis machine tools, and can convert position data for five axes to the
coordinates of the tool tip and display a 3-D path. It also supports a configuration containing the Cs axis
(spindle).
When the 3-D view function is used, See “Servo Tuning Tool FANUC SERVO GUIDE 3-D View
Function(A-95363EN-005)”.

NOTE
3-D view function is optional function. To use it, the hardware key attached to the
package is required.

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B-65404EN/02 USAGE 5.GRAPH WINDOW

5.1 OVERVIEW
Starting the Graph Window
When you press [Graph] on Main Bar, Graph Window is shown.
When the Graph Window is displayed for the first time, an attempt is automatically made to set up a
connection to the CNC. If the connection to the CNC fails, the following message appears, and the Graph
Window is started offline.

Waveform display in the Graph Window [Important]

The waveform on Graph Window is shown by the following two data. For this reason, to display a
waveform in the Graph Window, operation data for waveform display is required, apart from
measurement data.

Measurement data
Raw data from CNC (Position, Torque, etc.)

NOTE
When raw data is acquired from the CNC, the bit width is 16 bits including a sign.
On the other hand, SERVO GUIDE treats raw data as 32-bit data by performing
advance processing at intervals of the sampling period or 1 ms, whichever
shorter. Therefore, data longer than 16 bits such as position feedback data can
also be measured. (The advance processing is always performed regardless of
the type of measurement data, so perform an origin operation as necessary.)

Operation data
An operation is performed on measurement data to create display data.
If no operation is set, no waveform is displayed in the Graph Window.

In the following explanation, we use CHANNEL(CH) as Measurement data and DRAW(Draw) as

Display data.
Example)
CH1 : Measurement data 1
Draw3 : Display data 3

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5.GRAPH WINDOW USAGE B-65404EN/02

A conceptual diagram of the Graph Window is shown below.

Waveform display in the Graph Window (conceptual diagram)

Up to eight channels can be measured. If measurement data is acquired from all channels, CH1 to CH8,
and an operation is performed, eight waveforms Draw1 to Draw8 can be displayed.

If time axis display is performed, in particular, multiple operations can be selected. Thus, eight different
operations can be performed on the measurement data for a single channel, and the results can be
displayed at the same time as eight waveforms Draw1 to Draw8.

Name of each part

The name of each part of the Graph Window is explained below.
Menu

Tool Bar

Draw select panel

Comment Domain

Graph Domain

Cursor disp.panel

Waveform information
box

Graph domain
Domain where waveform data is displayed.
On the left side of the graph domain, the type of waveform data displayed, the operation, and the unit are
displayed.

Comment domain
In the domain at the top of the graph domain, two lines, comment 1 and comment 2, can be displayed.
When you click the domain, you can edit the comments.

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B-65404EN/02 USAGE 5.GRAPH WINDOW

Menu
You can execute some commands by the menu.
Refer to Section 5.2, “MENU” for details.

Tool bar
You can execute some commands by click the button.
Refer to Section 5.3, “TOOL BAR” for details.

Draw select panel

Switch Display mode valid or invalid.
Only the display waveforms set in the operation and graph display page in the graph
display setting dialog can be switched between display and non-display.
The left example shows that the operation 1, 2, 3 are given and the display of Draw 1, 2
are valid and Draw 3 is invalid.

Cursor disp.panel
According to whether the checkboxes are checked or not, the cursor and the waveform
information box are switched between display and non-display.
Whether each checkbox can be used or not depends on the graph display mode.

Waveform information box

In the lower right of the graph domain, a box such as the example is displayed.
The items displayed here vary depending on the graph display mode.

Monitor window
You can use Monitor Window by select menu [Comm]-[Monitor] at ONLINE state.

The Monitor Window allows monitoring of the data acquired by the SERVO GUIDE that is output to
each channel. For each channel, the type of measurement data, axis name, axis number setting, and the
data value acquired by the SERVO GUIDE are displayed.
The data become gray if the CHANNEL is invalid.
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5.GRAPH WINDOW USAGE B-65404EN/02

5.2 MENU
The contents of menu of Graph Window are shown.

[File(F)]
• New (N) (Ctrl+N)
Open new window.
• Read(R)
Read stored waveform data.
The files of SD.EXE can be read.
• Close(C)
Close this window.
• Save(S) (Ctrl+S)
Save the current data
Default file name is brought up from comments or measuring date/time.
• Save As(A)
Save the current data after change the name.
Default file name is brought up from comments or measuring date/time.
It's possible to save the data by CSV format.
• AutoSave Setup(V)
Make the settings for automatically saving a waveform data file.
• Print Setup(U)
Setting for print out.
• Print(P) (Ctrl+P)
Print out of current waveform.
• Recent
Display a history of a recently used file.
• Exit(X)
Terminate SERVO GUIDE. It closes any other windows also.

[Edit(E)]
• Copy(C) (Ctrl+C)
Copy the bitmap of current waveform to clipboard.

[Comm(C)]
• Start (F1)
Start measurement.
• Cancel
Stop data measurement.
• Connect(C)
Connect with CNC and transmit the setting for measurement.
• Disconnect(D)
Disconnect with CNC and clear the setting for measurement.
• Monitor(M)
Switch Monitor Window (Valid or Invalid).
- Hide
Monitor Window become invalid.
- Normal
Monitor Window is shown with normal type.
- Detail
Monitor Window is shown with detail type.

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B-65404EN/02 USAGE 5.GRAPH WINDOW
[Setup(S)]
• Channel (F9)
Show CHANNEL setting dialog.
• Operation (F5)
Show OPERATION setting dialog.
• Load Setting (Alt+1 - Alt+8)
Restore the CHANNEL settings and OPERATION settings which are saved before.
• Save Setting
Save the CHANNEL settings and OPERATION settings.
• Change Scale (F3)
Change scale in Graph Domain.

[View(V)]
• Toolbar(T)
Switch the display of Tool bar.
• Statusbar(S)
Switch the display of Status bar.
• Scrollbar
Switch the display of Scrollbar which is used for change display domain.
• Draw1-8 (Shift+1 - Shift+8)
Switch the display of Draw1-8.
• Reference (Shift+P)
Switch the display of reference waveform.
This is enabled only when the XY display mode is selected.
• Auto Scaling (A)
Execute auto-scale for all Draws.
• H-Zoom in (↑(Up Arrow))
Expand horizontal scale.
• H-Zoom out (↓(Down Arrow))
Shrink horizontal scale.
• V-Zoom in (u, Shift+u)
Expand vertical scale.
• V-Zoom out (d, Shift+d)
Shrink vertical scale.
• Waveform information(W)
Switch waveform information between display and non-display.
• Vertical Cursor(V)
Switch the vertical cursor between display and non-display.
• Horizontal Cursor(H)
Switch the horizontal cursor between display and non-display.
• Cursor Goto 0 (0)
Move a selected cursor to 0.

[Mode(M)]
Selection in Easy Graph Mode.
• XTYT (Ctrl+T)
Display of position (Horizontal axis means time.)
• VT (Ctrl+V)
Display of velocity (Horizontal axis means time.)
• AT (Ctrl+A)
Display of acceleration (Horizontal axis means time.)
• CIRCLE (Ctrl+B)
Display of contour error of circle

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5.GRAPH WINDOW USAGE B-65404EN/02

• XY (Ctrl+X)
Display of XY
• XTVT (Ctrl+W)
Display of tangent speed (Horizontal axis means time.)
• DXDY (Ctrl+D)
Display of feed smoothness (Horizontal axis means time.)
• SYNCHRO
Display of synchronous error (Horizontal axis means time.)
• CONTOUR (Ctrl+O)
Display of contour error of arbitrary shape
• NORMAL, POLAR(XYR), ANGULAR(XYA) (Ctrl+R)
Selection of a coordinate conversion mode
(Switching to polar coordinates mode and angular axis mode)
• FOURIER (Ctrl+F)
Display of analysis of vibration

[Tool(T)]
• Frequency Response(F)
- Measure – velocity loop
Open the dialog for frequency response.
Measurement of velocity loop frequency response
- Measure – position loop
Open the dialog for frequency response.
Measurement of position loop frequency response
- Bode plot (Ctrl+M)
Re-draw of bode diagram
• Smoothness compensation calc.(L) (Ctrl+L)
Show the dialog for calculation of compensation with linear motors.
There is a function to support the setting of "Smooth compensation" with using linear motors or
synchronous built-in servo motors.
• Auto Tuning(T)
Start up Tuning Navigator.
• Spindle Tuning(S)
- Acc./Dec. performance Measurement
Open the acceleration/deceleration performance measurement screen.
- Orientation Measurement
Open the orientation measurement screen.
- Frequency Response Measurement
Open the frequency response measurement screen.

[Help(H)]
• Contents(C)
Show contents of help file.
• Index(I)
Show index of help file.

5.3 TOOL BAR

Tool bar for Graph Window is as following.

<1> <2> <3> <4> <5> <6><7> <8><9> <10><11> <12> <13><14><15><16><17> <18><19>

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B-65404EN/02 USAGE 5.GRAPH WINDOW

The tool bar is displayed just below the menu in the upper part of the Graph Window. You can execute
some commands by click the buttons.

If you want to switch the display of tool bar, use the menu [View]-[Toolbar(T)].

Number Functions
<1> Open new window.
<2> Read stored waveform data.
<3> Save the current data.
<4> Copy the bitmap of current waveform to clipboard.
<5> Print out of current waveform.
<6> Connect with NC and transmit the setting for measurement.
<7> Disconnect with NC and clear the setting for measurement.
<8> Show CHANNEL setting dialog.
<9> Show OPERATION setting dialog.
<10> Execute origin.
<11> Start measurement.
<12> Execute auto-scale for all Draws.
<13> Shrink horizontal scale.
<14> Expand horizontal scale.
<15> Shrink vertical scale.
<16> Expand vertical scale.
<17> Move a selected cursor to 0.
<18> Can select a display waveform individually.
<19> Can select an area and enlarge it.

5.4 USAGE
Using with ONLINE
To measure through graph window, channel setting and calculation setting are necessary.

Connection
It is possible to keep some graph windows open on screen, but only one window is able to communicate
with CNC.
To connect a certain Graph Window to the CNC, select [Comm] in the menu then [Connect], or press
connection button in the tool bar.
When the Graph Window has been connected to the CNC, and channel setting has been performed
normally, measurement button becomes effective.

Channel setting
Select the data of the servo axis, spindle axis, or PMC signal for which a measurement is to be made.
Data on up to eight channels can be measured at the same time.
For details, see Section 5.6, “CHANNEL SETTING”.

Operations setting
Settings for displaying measured data are made. Up to eight waveforms can be displayed at the same
time.
For details, see Section 5.7, “OPERATION SETTING”.

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Easy Graph Mode

Operation settings often used for displaying measured data can be made at a time by using the easy graph
mode.
For details of the easy graph mode, see Section 5.9, “EASY GRAPH MODE”.

Using with OFFLINE

There is no limit in particular except for measuring data through CNC.

It is possible to load BIN file got by SD.EXE. (It is necessary to set channel setting for detection of data
series.)
(SD.EXE is the soft on MS-DOS that analyzes the data on servo axis.)

5.5 SHORTCUT
Easy Graph Mode
By using the following short cut, you can handle some display settings in the same way as SD.EXE.
Keyboard operation is as common operation as possible to SD.EXE.
(SD.EXE is the soft on MS-DOS that analyzes the data on servo axis.)

Short cut Setting mode

[Ctrl] + [T] Position mode (time base)
[Ctrl] + [V] Velocity mode (time base)
[Ctrl] + [A] Acceleration mode (time base)
[Ctrl] + [J] Jerk mode (time base)
[Ctrl] + [B] Error mode of circle
[Ctrl] + [X] XY mode
[Ctrl] + [W] Tangent velocity mode (time base)
[Ctrl] + [D] Smoothness at moving (time base)
[Ctrl] + [O] Shape error mode
[Ctrl] + [R] Coordinate conversion (polar coordinates and angular axis) switching
[Ctrl] + [F] Frequency analysis mode (Fourier transform)
[Ctrl] + [M] Bode plot

Channel setting, calculation and display setting

Short cut Function
[F9] Load channel setting mode.
[F5] Load calculation and display mode.
[F3] Load scale setting mode.
[Alt] + [1], … , [Alt] + [8] Channel setting. Restore scale setting.

Measuring data
Short cut Function
[F1] Start data measurement.
[o] Set origin.

Scale setting
Short cut Function
[u], [Shift] + [u] Zoom up on position axis.
[d], [Shift] + [d] Zoom down on position axis.
[↑] Zoom up on time axis.
[↓] Zoom down on time axis.
[a] Scale setting automatically.

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File operation
Short cut Function
[Ctrl] + [N] Open new window.
[Ctrl] + [S] Save waveform.
[Ctrl] + [P] Print waveform.
[Ctrl] + [C] Copy waveform to clipboard.

Cursor operation
Short cut Function
[Alt] +[↑] Move the horizontal cursor up.
[Alt] +[↓] Move the horizontal cursor down.
[Alt] + [←] Move the vertical cursor to the left.
[Alt] + [→] Move the vertical cursor to the right.
0 Move a selected cursor to 0.

Others
Short cut Function
[Ctrl] + [L] Open Smoothing compensation dialog.

5.6 CHANNEL SETTING

This section explains channel setting.

5.6.1 Name and Function of Each Section of the Measure Setting

Screen
In channel setting, to measure data, measurement conditions such as the number of measurement data
points, sample cycle, and trigger conditions must be set in the Measure setting page in the Graph setting
dialog. The name and function of each section of the Measure setting page are given below.

(8)

(9)
(1)
(10)
(2)
(11)

(3) (12)

(4) (13)

(5) (14)

(6)

(7)

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No. Item Description

Set the number of measurement data points.
(1) Data points
See Subsection 5.6.3, “Channel Setting Procedure” for details.
Set the sampling cycle of measurement data. Set the cycle for each of the servo
(2) Sampling Cycle axis, spindle axis, PMC signal, and the I/O Link βi axis individually.
See Subsection 5.6.3, “Channel Setting Procedure” for details.
You can attach any comments to data. You can use them as memos for
measurement items, parameter conditions, and so on. You can edit the comments
(3) Comment 1, 2
by clicking the comment domain in the upper part of the Graph Window, without
opening the channel setting screen.
(4) Time and Date The date and time the data is measured are displayed. (This item is for read only.)
(5) Property… The channel setting screen is displayed.
Set the machine coordinate on each axis at the measurement start position as the
(6) Origin Setting… origin value of each channel. With this setting, the measured POSF data can be
handled as machine coordinates.
The settings of channels are displayed. To delete the settings of a channel, clear the
(7) Channel list
leftmost checkbox.
Set a trigger.
(8) Trigger
See Subsection 5.6.4, “Trigger Setting” for details.
If BIN-format waveform data acquired with SD.EXE is read, this checkbox is
automatically checked. If performing measurement with the SERVO GUIDE, be sure
(9) BIN compatible to perform channel setting with the "check removed". If channel setting is performed
with the BIN format, proper display is not possible because the conversion base
value differs.
If the servo axis and the spindle axis are to be compensated in Cs contour control,
etc., this item may be effective if data with different sample cycles are not
(10) Sync.(SV-SP)
synchronized in time. (It may not be effective.)
If the αi spindle is used, usually turn off this item. (For the α spindle, turn it on.)
(11) Auto Origin Automatically perform origin operation at the start of data measurement.
To perform measurement repeatedly with the same channel setting, select whether
to automatically execute auto-scaling at every measurement.

None : Not perform auto-scaling.

Once : Perform auto-scaling only at the data measurement immediately after
(12) Auto-scaling channel setting is performed. (Normal setting)
Always : Perform auto-scaling at every data measurement.

If auto-scaling is performed, the scale factor is changed so that the entire waveform
fits in the graph display range. If changes in waveform scale are observed, for
example, it is convenient to fix the scale factor without using auto-scaling.
This item can add an offset to the measurement data of each channel.
It is usually not used, but it may be effective if it is used if, for example, the initial
(13) Data Shift…
position of the rotary axis in polar coordinate conversion deviates.
See Subsection 5.15.2, “Measurement Data Value Scaling” for details.
This item can add an operation that shifts in time in relation to the measurement
data of each channel. It is usually not used, but it may be effective if it is used if, for
(14) Time Shift…
example, the sampling cycle differs between the servo axis and the spindle axis.
See Subsection 5.15.3, “Measurement Data Time Shift” for details.

5.6.2 Name and Function of Each Section of the Channel Setting

Screen
In channel setting, the data to measure for each channel must be set in the channel setting page after
measurement conditions are set in the Measure setting page in the Graph Setting dialog. The name and
function of each section of the channel setting page are shown below.

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(1)

(2) (7)

(3) (8)

(4)
(9)
(5)

(6)

No. Item Description

Set the axis number of the data to capture on each channel. Regardless of the
placement of the servo DSP, numbers are assigned in the order of axes on the
(1) Axis
CNC. In online mode, an axis name and an axis number are displayed in
combination, as in [ X (1) ].
(2) Kind Set the kind of data to capture on each channel.
Set the unit of the selected kind. Usually, the automatically set value need not be
(3) Unit changed. If, however, an operation that requires the actual position of the rotary axis
as in polar coordinate conversion, deg must be selected.
Set the weight (numerator = physical quantity) of the data selected with the type of
(4) Conv.Coef.
each channel.*
Set the weight (denominator = raw data unit) of the data selected with the type of
(5) Conv.Base
each channel. Usually, use the value automatically set when a type is selected.(*)
Set the value to be set as the initial value of each channel when the Origin button
(6) Origin Value
is pressed.
(7) Extended address(E) Usually not used.
Usually not used. A value may be automatically set if a kind is selected.
If the measurement limits are exceeded, change the shift value.
(8) Shift(S)
For details of the measurement limits, see Subsection, 5.15.4, "Limitation of
Measurement".
An explanation of selected data is displayed. For some, there is a supplementary
(9) Explanation
explanation of conversion coefficient setting.

* Supplementary explanation of the conversion coefficient and the conversion base

Raw data for a measured waveform is in an internal unit, and must be converted into an equivalent
physical quantity, using the formula below.
Physical quantity = Raw data x Conversion coefficient/Conversion base
At this time, position-related data specifies xx mm per pulse, so [1 pulse] is to be set as the
conversion base, and [xx mm] is to be set as the conversion coefficient.
For VCMD and SPEED, raw data 32768 is equivalent to 3750min-1, so [32768] is to be set as the
conversion base, and 3750 is to be set as the conversion coefficient.

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5.6.3 Channel Setting Procedure

The channel setting procedure is explained below.

The setting items necessary for data measurement are as follows:

• Number of measurement data points

• Sampling cycle
• Data to be measured on each channel (axis to be measured, data kind, conversion coefficient,
unit, etc.)

Flow of channel setting

1. Display the Measure setting page in the Graph Setting dialog. To do so, press the channel setting
button in the toolbar or select [Channel…] in the [Setup] menu in the Graph Window. The
shortcut key [F9] can also be used to display it.

* To delete the settings of a channel, clear the leftmost checkbox in the channel list in the
Measure setting page.

2. Set the number of measurement data points.

The number of data points multiplied by the sampling cycle is the data measurement time. The upper
limit on the number of data points is 100,000. For the I/O Link βi axis, the upper limit is about 8000.
If contour error display is performed, for example, as the number of measurement data points
increases, arithmetic processing takes more time and operation becomes slow; set the minimum
necessary number of data points.
If different sampling cycles are set for the servo axis, spindle axis, and PMC signal, the number of
data points is assumed to be that for the shortest sampling period, and the numbers of data points for
the longer sampling cycles become smaller in accordance with their ratios to the shortest sampling
cycle.

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Inside the CNC, data is transferred to the PC while being buffered. If data is acquired at a high
sampling cycle, the buffer may become full because the communication cannot catch up. If this
happens, data transfer may end with a smaller number of points than the specified number of points.

3. Set the sampling cycles.

Set the cycles for the servo axis, spindle axis, PMC axis, and I/O Link βi axis individually. If the
sampling cycles differ, data with the longest sampling cycle is linearly interpolated. (A sample cycle
combination in which one cycle is not an integral multiple of another, such as 2ms and 5ms, cannot
be set.) If data with a long update cycle (such as position data) is measured at high speed, deviation
may occur because of the difference in update timing.

Sampling cycle for each axis

Target axis Sampling cycle Remarks

125μsec can be selected for HRV2 or greater, and
62.5μsec can be selected for HRV3 or greater.
Up to four channels can be measured per two axes, but
62.5μsec, 125μsec, 250μsec,
for 62.5μsec, only one channel can be measured per two
Servo axes 500μsec, 1msec, 2msec, 5msec,
axes, and for 125μsec, up to two channels per two axes.
10msec, 20msec, 50msec, 100msec
In addition, there are CNC limitations: For 62.5μsec, up to
two channels in the entire CNC; and for 125μsec, up to
four channels in the entire CNC. (NOTE)
Up to two channels can be measured per axis, but for
250μsec, 500μsec, 1msec, 2msec,
500μsec, only one channel can be measured per axis. For
Spindle axes 5msec, 10msec, 20msec, 50msec,
the α spindle (DGN No.400 bit7 = 0), only 8msec(old) can
100msec, and 8msec(old)
be selected. (NOTE)
Only one channel can be selected, and up to eight (or 16)
1msec, 2msec, 5msec, 10msec, PMC signals can be set.
PMC axes
20msec, 50msec, 100msec For details, see Subsection 5.6.5, "PMC Signal
Measurement".
Up to two channels can be measured per unit, but cannot
I/O Link βi
1msec, 2msec, 4msec, 8msec be measured together with those in the CNC or in
axes
different units at the same time.

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NOTE
1 In the SERVO GUIDE 8.00 or later, the number of measurement channels for
the spindle axis has been extended for the 30i-B series. Data measurement for
up to four channels is possible per axis.

Applicable system software See the function correspondence table in the

appendix.

Extended number of measurement channels for each sampling cycle

Sampling cycle
1msec or more 500μsec 250μsec
Conventional specification Up to 2 ch Up to 1 ch -
Extended specification Up to 4 ch Up to 2 ch Up to 1 ch

Limitation
For a system software series in which the maximum number of paths exceeds
four, if the maximum number of channels in the extended specification is used,
part of the information in the trouble diagnosis monitor screen in the CNC cannot
be acquired.

2 POS3D can be measured if the sampling cycle is 1 ms or greater. The number

of channel is limited to one per spindle axis.

4. Display the channel setting dialog. To do so, select the channel list in the Measure setting page and
then double-click or select the [Property…] button.

5. Set the axis number of the data to capture on each channel.

NOTE
1 Set channel numbers in ascending order.
2 Set the spindle axis after the servo axis.
3 Set the PMC signal after the servo axis and the spindle axis.

6. Set the kind of data to capture on each channel.

7. Set the unit of the selected data.

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B-65404EN/02 USAGE 5.GRAPH WINDOW
8. Set a conversion coefficient and a conversion base.

9. Set an origin value.

10. Channel setting is now completed.

* See Subsections 5.6.1, “Name and Function of Each Section of the Measure Setting Screen” and
5.6.2, “Name and Function of Each Section of the Channel Setting Screen” for other setting items.

5.6.4 Trigger Setting

A prescribed condition can be used as a trigger to measure data by setting the trigger in advance in the
Measure setting page in the Graph Setting dialog. This subsection explains the setting items necessary for
setting a trigger.

Display the Measure setting page in the Graph Setting dialog. To do so, press the channel setting button
in the toolbar or select [Channel…] in the [Setup] menu in the Graph Window. The shortcut key
[F9] can also be used to display it. The Measure setting page is displayed, together with the trigger group
box shown below.

The trigger group box displays the settings of a trigger.

(Top: trigger type, bottom: trigger detailed information)

Press the [Change] button, and the Trigger Setting window appears for setting a trigger.

The details of each of the setting items in the Trigger Setting window are as follows:

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• Trigger Path
Path :
Specify the CNC path for which to set a trigger. If the field is left blank, path 1 is specified.
N number :
The N number during program operation is used as a trigger. If the number is 0, the N number
setting is invalid.
SV alarm (*) :
The generation of a servo alarm is used as a trigger.
SP alarm (*) :
The generation of a spindle alarm is used as a trigger.
• Trigger Signal (*)
Address :
Specify the PMC signal to use as a trigger condition.
Condition :
Select the condition under which the PMC signal specified in the Address field is used as a
trigger.
• Trigger Position (*)
Slider position :
Specify where in the entire sampling time the position at which the trigger condition is met is to
be placed, as a percentage of the sampling time.
NOTE
If no trigger is specified, data capture is started immediately.
For the pulse input type DSA and the I/O Link βi axis, no trigger can be used.
Extended trigger settings(*) can be used with some CNC models only.
If there is a block that moves at high speed before the trigger starts, the
measurement position may deviate. (See Subsection 5.15.4, "Limitation of
Measurement".)

Repeated measurement settings

• Automatic Repeat
Enable repeated measurement. After the completion of measurement, the next measurement
automatically starts.
Stop signal :
Specify the PMC signal to stop automatic repeat.
Stop condition :
Specify the PMC signal condition to stop automatic repeat.

NOTE
1 During the execution of measurement with automatic repeat, the Graph Window
cannot be operated.
If the rate of communication of data with the CNC is low, it may not be possible
to acquire all data.
Also, during long-time continuous use, the computer may become unstable.
If using automatic repeat, understand these limitations and bear them in mind
when using it.

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NOTE
2 If a trigger is specified with automatic repeat, measurement is performed
repeatedly at each trigger. [Repeat mode]
If no trigger is specified with automatic repeat, data continuous in time is
measured. [Continuous mode]
[Repeat mode]
Trigger Trigger Trigger

Measuring Waiting Measuring Waiting Measuring time

data for trigger data for trigger data

[Continuous mode]

Measuring Measuring Measuring Measuring Measuring

time
data data data data data

3 Continuous mode can be used with some CNC models only. For those CNC
models that do not support continuous mode, the data from the completion of
measurement until the next measurement starts is not acquired.
4 If no stop signal is specified, measurement is performed repeatedly until
measurement is canceled by removing the check from "Automatic Repeat",
which appears during data transfer.

5.6.5 PMC Signal Measurement

The PMC signal state can be measured simultaneously as the waveforms on the servo axis and the spindle
axis.

Applicable system software

See the function correspondence table in the appendix.

Measurement specifications

Item Description
Up to eight channels in total for the servo axis, spindle axis, and PMC
Number of measurement channels (total)
axis.
Number of measurement channels (PMC) Up to one channel, up to 16 points can be specified.
Sampling cycle (PMC) 1msec or 100msec (signal update cycle is 8msec or 4msec)
Signal address G, F, X, Y, A, R, K, D, M, N, E (T, C, and Z cannot be measured)
Signal range Depends on the PMC model.

NOTE
Limitation on PMC signal acquisition
PMC axes cannot be measured simultaneously as I/O Link βi axes. (Same
limitation on servo axes and spindle axes.)

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Channel setting method

1. Display the channel setting dialog. To do so, select the channel list in the Measure setting page and
then double-click or select the [Property…] button. The channel setting dialog appears.
Set the PMC signal after the channel setting for the servo axis and the spindle axis.

2. Set PMC(-127) as the axis subject to measurement.

3. Set the signal address to measure.

• Enter the bit address of the PMC signal address you want to measure.
• Enter the bit address as X0008.4, for example.
• For a multipath PMC, specify a PMC path number, too. (Example: 2:F0001.0)
• If a path number is omitted, the first PMC is assumed.
• PMC path numbers that can be specified are 1 to 5, 9 (DCS PMC), 5 (loader).
• Add the entered bit address to the signal address.
- Press the <Add> button, and the entered bit address is added to the signal address. To
obtain value type data in which a PMC signal of multiple bits is represented by a single
value type data item, add the signal addresses in bit units, in the order of the lowest to the
highest bits, such as X16.0, X16.1, …, X16.7.

Lower bit

Add

Higher bit

- To obtain value type data and bit type PMC signals at the same time, first add bit type
PMC signal addresses and then value type data PMC signal addresses.

Bit type Bit type data

Value type data

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B-65404EN/02 USAGE 5.GRAPH WINDOW
- The [Add] button supports entries as byte addresses, enabling you to add consecutive bit
addresses, bit 0 to bit 7. (The [Modify] button and the [Remove] button do not support
byte addresses.)

• Remove and modify the added signal addresses, if required.

- Select a signal address and press the <Remove(R)> button, and the selected signal address
is removed from the signal address list. To remove all addresses, press the <Remove All>
button.

- Select the signal address you want to modify, enter a bit address again, and press the
<Modify(M)> button, and the selected signal address is replaced with the entered signal
address.

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PMC signal display method

1. Display the Operation and Display page in the Graph Setting dialog. To do so, press the operation
and display button in the tool bar or select [Operation…] in the [Setup] menu in the Graph
Window. The shortcut key [F5] can also be used to display it.

2. Set the operation for displaying PMC signals in a graph.

• To display a PMC signal as a bit type, display the signal with the Bit operation in YT mode.
For Input 1 of the Bit operation, set the channel from which the PMC signal is obtained.
Measured PMC signals are set starting with the lowest bit in the order specified in the signal
address list. Thus, for Input 2 of the Bit operation, select the bit position of the PMC signal you
want to display.

• To display a PMC signal as a value type, perform either of the following operations:
PMC(signed) : Display as a signed value.
PMC(unsigned) : Display as an unsigned value.

If either of the above operations is selected, set Input 1 and Input 2 as follows:
Input 1 : Set the channel from which the PMC signal is obtained.
Input 2 : Set an appropriate value in accordance with the number of bit type signals obtained at the
same time.

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B-65404EN/02 USAGE 5.GRAPH WINDOW

Example of setting :
Val : Not a single bit type signal is set.
Val+D3 : Three bit type signals are specified.

Value type data Bit signals

3. Measure PMC signals and display them in the Graph Window.

A signal address is displayed in the parentheses in each Draw unit display.

Waveform display example :
Draw1 : X16.0 to X16.7 (value type data: counter of the manual handle, 8 bits)
Draw2 : X16.7 (bit type signal: sign bit of value type data)
Draw3 : R9091.5 (bit type signal)
Draw4 : R9091.6 (bit type signal)

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5.6.6 I/O Link βi Axis Measurement

Data on the I/O Link βi axis can be measured.

Applicable system software

See the function correspondence table in the appendix.

Measurement specifications
Item Description
Number of measurement Up to two channels
channels (total)
Sampling Cycle 1msec, 2msec, 4msec, 8msec
About 8000 (when 1msec and 1 channel are set)
About 4000 (when 1msec and 2 channels are set)
Number of points that can be * If a number greater than the above is specified, a full buffer error may occur,
sampled but the data obtained before the error can be observed.
The upper limit varies with the sampling cycle and the operation status of the
upper CNC, but the longer the sampling cycle, the longer the sampling time.
Trigger Cannot be used. (Sampling starts instantaneously.)

If multiple I/O Link βi amplifiers are to be connected, it is recommended to set the axis names with the
I/O Link βi amplifier parameters (Nos. 024 and 025) to make it easy to identify the axes in the channel
setting screen of the SERVO GUIDE.

NOTE
1 I/O Link βi axes and other CNC axes cannot be measured at the same time.
2 Different I/O Link βi unit axes cannot be measured at the same time.
3 Origin operation is performed to set the measurement start point of position data
such as POSF, but if the axis is moved from the origin until the start of sampling,
the sampling position may deviate from the actual position if the travel speed is
high.
4 With I/O Link βi, the Parameter Window, Program Window, and Tuning
Navigator cannot be used.

Related parameters
(a) CNC parameters
Series16i/18i/21i, PowerMate i :

#7 #6 #5 #4 #3 #2 #1 #0
960 2CH PMN

PMN (#3) The Power Mate CNC manager function is:

0: Enabled.
1: Disabled. (Communication with slaves is not transacted.)

NOTE
Measuring function of I/O Link βi is not available if Power Mate
CNC manager function is disabled.

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B-65404EN/02 USAGE 5.GRAPH WINDOW
2CH (#6) When I/O Link channel expansion (2 channels) is valid, the Power Mate CNC manager:
0: Communicates with the 2nd channel, or communicates with the 1st channel if no βi
amplifier is connected to the 2nd channel.
1: Communicates with the 1st channel.

NOTE
In the channel setting screen, you can select the βi amplifiers
connected to the I/O Link channel with which Power Mate CNC
manager function communicates. When this parameter is changed,
please reconnect SERVO GUIDE to CNC after displaying the
Power Mate CNC manager screen.

Series30i/31i/32i/35i, 0i-D, Power Motion i-A :

#7 #6 #5 #4 #3 #2 #1 #0
960 PMN

PMN (#3) The Power Mate CNC manager function is:

0: Enabled.
1: Disabled. (Communication with slaves is not transacted.)

NOTE
Measuring function of I/O Link βi is not available if Power Mate
CNC manager function is disabled at all paths.

963 I/O Link channel number of sampling

[Valid data range] 1 to 4 (When 0 is set, I/O Link channel number is assumed as 1.)
Set the number for the I/O Link channel to which the βi amplifier to be sampled by
SERVO GUIDE is connected.

NOTE
In the channel setting screen, you can select the βi amplifiers
connected to the I/O Link channel specified by this parameter.
When this parameter is changed, please reconnect SERVO GUIDE
to CNC.

(b) βi amplifier's parameter

In case of connecting plural βi amplifiers, we recommend setting the axis name parameter to make it
easy to distinguish each axis in the channel setting screen of the SERVO GUIDE.

024 Axis name (1st character)

025 Axis name (2nd character)

[Valid data range] 0, 32 (space)

48 (“0”) to 57 (“9”)
65 (“A”) to 90 (“Z”)
Set an axis name for βi amplifier by using two characters.
When parameter No. 024 is set to 0, an axis name becomes “1”, regardless of the setting
value of parameter No. 025.

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NOTE
There are some limitations about the measurement of I/O Link βi.
• During sampling of I/O Link βi, you cannot open the screen of Power Mate
CNC Manager.
• When you open the screen of Power Mate CNC Manager and execute
measurement of I/O Link βi, the screen is not refreshed and you cannot
operate the screen.
• When you input or output the parameters of I/O Link βi from Power Mate
CNC Manager, you cannot measure the data of I/O Link βi.
• If ladder program frequently outputs commands to I/O Link βi, SERVO
GUIDE might not able to get data. In the case, please leave a space between
commands.
• If the CNC operation time becomes severe by MACRO EXECUTOR,
C-EXECUTOR, or FANUC Touch Panel, the processing time for I/O Link βi
sampling might be longer.

5.6.7 Available Data at Servo Axes

Measurable data table on servo axis is displayed.
(For data marked †, high-speed sampling is possible.)
Meaning of measurement data
Symbol Remarks
Setting of conversion coefficient
Integral value of position feedback
POSF
Set moving distance per 1 pulse (Detection unit).
Velocity command
αi, βi: Set 3750min-1.
Linear (inc): Set 15.36 × signal pitch [μm].
VCMD Linear (abs): Set 7864.32 × resolution [μm].
Synchronous built-in servo motor: (Note 1)
Set a value in accordance with the minimum resolution of the detector (on
servo parameter setting).
Torque command
TCMD†
Set maximum current value (Ap) [nominal current limit] of using amplifier.
Real speed (Motor speed)
αi, βi: Set 3750min-1.
Linear (inc): Set 15.36 × signal pitch [μm].
SPEED Linear (abs): Set 7864.32 × resolution [μm].
Synchronous built-in servo motor: (Note 1)
Set a value in accordance with the minimum resolution of the detector (on
servo parameter setting).
Position error
ERR
Set moving distance per 1 pulse (Detection unit).
Integral value of position feedback for 3-D View 90G0/01.0 or later
POS3D To use 3-D path error magnification, this data must be measured. Set the 90E1/04.0 or later
travel distance per pulse. 90E0/30.0 or later
For T-path CNCs
Synchronous error on rigid tapping (only tapping axis)
SYNC B1H1, BEH1,
Set 1. (It means 4096 pulses per 1 rotation.)
DEH1/15 or later
Absolute position (221p/rev) detected internal pulse coder
ABS†
Set moving pulse per 1 revolution.
Estimated disturbance value
DTRQ
Set maximum current value (Ap) of using amplifier.

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B-65404EN/02 USAGE 5.GRAPH WINDOW
Meaning of measurement data
Symbol Remarks
Setting of conversion coefficient
Difference of torque between synchronous axes
Set maximum current value (Ap) of using amplifier.
DLTCM
When you use this as the parameter setting for Torque Difference Alarm
Level, set 1 both at conversion coefficient and conversion level.
Semi-full error on dual position feedback
SFERR
Set moving distance per 1 pulse (Detection unit).
Backlash compensation
BLCMP
Set moving distance per 1 pulse (Detection unit).
Backlash acceleration (1st stage acceleration)
BLAC1
Set 1. (It means internal value in servo software.)
2nd stage backlash acceleration
BLAC2
Set 1. (It means internal value in servo software.)
Phase angle of rotor
ROTOR†
Set 360deg.
90B1,90B8/05 or later
90B6,90B5/06 or later
ROTDD Smooth compensation counter for synchronous built-in servo motor
90C5,90E5/01 or later
90D0,90E0/12 or later
sin(rotor phase)
SIN_T†
Set 1. (This has no dimension.)
Disturbance input frequency (It is useful for measurement of frequency
FREQ† characteristic.)
Set 1. (Hz)
Disturbance input torque (It is useful for measurement of velocity loop
FRTCM† frequency characteristic.)
Set maximum current value (Ap) of using amplifier like torque command.
Disturbance input velocity (It is useful for measurement of position loop
frequency response.)
Set as below like the velocity command.
αi, βi: Set 3750min-1.
FRVCM Linear (inc): Set 15.36 × signal pitch [μm]. 90E1/04.2 or later
Linear (abs): Set 7864.32 × resolution [μm].
Synchronous built-in servo motor: (Note 1)
Set a value in accordance with the minimum resolution of the detector (on
servo parameter setting).
OVC simulation data
OVCLV
Set 1. It occurs OVC alarm when the value becomes 100%.
Position error (including delay of FAD)
ERRC
Set moving distance per 1 pulse (Detection unit).
R-phase current
IR†
Set maximum current value (Ap) [nominal current limit] of using amplifier.
S-phase current
IS†
Set maximum current value (Ap) [nominal current limit] of using amplifier.
Actual current
IEFF
Set maximum current value (Ap) [nominal current limit] of using amplifier.
Active current
IQ†
Set maximum current value (Ap) [nominal current limit] of using amplifier.
Reactive current
ID†
Set maximum current value (Ap) [nominal current limit] of using amplifier.
90B1,90B8/12 or later
DC link voltage
90BP/02 or later
VDC 200V SV: 8192=640V
90C5,90E5/01 or later
400V SV: 8192=1280V
90D0,90E0/15 or later
Position error for monitoring (Parts Learning Control)
ERMON 90D3 only
Set moving distance per 1 pulse (Detection unit).

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5.GRAPH WINDOW USAGE B-65404EN/02

Meaning of measurement data

Symbol Remarks
Setting of conversion coefficient
S2ST4 Status flag (Parts Learning Control) (Note 2) 90D3 only
Rotational motor position
SVPOS 90B1,90B8/02 or later
This data is valid for αi servo motor.
90B1,90B8/02 or later
Motor winding temperature (°C) 90B6,90B5/04 or later
MTTMP
Set 1. This data is valid for αi servo motor. 90C5,90E5/01 or later
90D0,90E0/12 or later
90B1,90B8/02 or later
Pulsecoder temperature (°C) 90B6,90B5/04 or later
PCTMP
Set 1. This data is valid for αi servo motor. 90C5,90E5/01 or later
90D0,90E0/12 or later
90B1,90B8/02 or later
Smoothness compensation (Linear) 90B6,90B5/04 or later
RPLIN
Set maximum current value (Ap) [nominal current limit] of using amplifier. 90C5,90E5/01 or later
90D0,90E0/12 or later
R-phase current (PDM-connected units 1 to 4)
90B1/06 or later
IR1 to IR4 Set the maximum current value (Ap) [nominal current limit] of the amplifier
90BP/01 or later
to use.
S-phase current (PDM-connected units 1 to 4)
90B1/06 or later
IS1 to IS4 Set the maximum current value (Ap) [nominal current limit] of the amplifier
90BP/01 or later
to use.
90B1,90B8/06 or later
ACC1 to ACC3 Acceleration sensor information (1st axis to 3rd axis) 90C5,90E5/01 or later
90D0,90E0/12 or later
Servo axis position data (rotary axis angle data)
SVPOS2 90D0,90E0/16 or later
For the adjustment of the interactive force compensation function
IFCMP1, 90G0/02.0 or later
Interactive force compensation value (1st axis and 2nd axis)
IFCMP2 90D0,90E0/16 or later
Analog signal command
ALGCMD 90BP/03 or later
For the adjustment of the pressure and position control function
Analog signal feedback
ALGFB For the adjustment of the pressure monitor/pressure and position control 90BP/03 or later
function
Analog signal offset
ALGOFS For the adjustment of the pressure monitor/pressure and position control 90BP/03 or later
function
Analog control flag
ALGFLG 90BP/03 or later
For the adjustment of the pressure and position control function
Velocity command from position control loop
POSVCM 90BP/03 or later
For the adjustment of the pressure and position control function
Velocity command from analog control loop
ALGVCM 90BP/03 or later
For the adjustment of the pressure and position control function

(Note 1) Examples of setting the conversion coefficients of VCMD and SPEED in synchronous built-in
servo motors

Detector Setting of conversion coefficient

αiCZ512 (500,000/rev) 7500 min-1
-1
αiCZ768 (750,000/rev) 5625min
-1
αiCZ1024 (1000,000/rev) 3750min
RCN223,RCN723,RCN727 (8000,000/rev) 468.75min-1
Non-binary rotary encoder (λ/rev) -1
3750×8192÷2λmin
+FANUC high-resolution serial output circuit

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B-65404EN/02 USAGE 5.GRAPH WINDOW
(Note 2) S2ST4 (Parts learning status signal)

#15 #14 #13 #12 #11 #10 #9 #8

PARTLS ERROVR ERRCHK
#7 #6 #5 #4 #3 #2 #1 #0

PARTLS(#15) : 1 = Parts learning control in progress

ERROVR(#14) : 1 = An error exceeds a specified range during parts learning control.
ERRCHK(#13) : 1 = Error monitoring is currently performed during parts learning control.

5.6.8 Available Data at Spindle Axes

The measurable data table on spindle axes is shown.

For details of measurement data, see "Details about spindle data", provided later.

Details of measurement data are summarized elsewhere.

αi spindle
The number of channel is 2 that is the maximum number when sampling period is 1ms , and 1 channel
when sampling period is 500μsec.

NOTE
In the SERVO GUIDE 8.00 or later, data measurement for up to four channels is
possible per spindle axis in the 30i-B series. For details, see Subsection 5.6.3,
"Channel Setting Procedure".

Meaning of measurement data

Symbol Remarks
Setting of conversion coefficient
Motor speed
SPEED
(4096 = 1 min-1)
INORM Amplitude of motor current
Amplitude of motor current (Arms value)
IRMS 9D80/20 or later
Data resulting from unit conversion of INORM.
Amplitude of motor current (A(p) value)
IPEAK 9D80/20 or later
Data resulting from unit conversion of INORM.
Torque command
TCMD
(16384 = maximum Motor torque 100%)
Motor speed command
VCMD
(4096 = 1 min-1)
Velocity error
VERR
(4096 = 1 min-1)
Motion command per communication period
MCMD
(Cs mode: 360000 or 3600000 p/rev, other: 4096 p/rev)
9D50/11 or later
Position error
ERR 9D53/03 or later
(Cs mode: 360000 or 3600000 p/rev, other: 4096 p/rev)
9D70/02 or later
Position error (CNC)
ERRC
(Cs mode: 360000 or 3600000 p/rev, other: 4096 p/rev)
9D50/11 or later
Synchronous error
SYNC 9D53/03 or later
(4096 p/rev)
9D70/02 or later
Position error at orientation
ORERR
(224 p/rev)
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5.GRAPH WINDOW USAGE B-65404EN/02

Meaning of measurement data

Symbol Remarks
Setting of conversion coefficient
ORSEQ Orientation sequence data
Integral value of position feedback
PCPOS
(224 p/rev)
Integral value of position feedback
CSPOS
(360000 or 3600000 p/rev)
Integral value of position feedback
CSPOS2 9D80/20 or later
Data based on CSPOS but consideration given to coordinate polarities.
Integral value of position feedback for 3-D view
POS3D To use 3-D path error magnification, this data must be measured. Set the 9D80/20 or later
travel distance per pulse.
Motion command per position loop
WMDAT
(224 p/rev)
Position error 2
ERR2
(224p/rev)
9D50/11 or later
Position error 2 (CNC)
ERR2C 9D53/03 or later
(224p/rev)
9D70/02 or later
Velocity command data from CNC
SPCMD
(16384 = motor maximum speed (No.4020))
9D50/11 or later
Spindle speed
SPSPD 9D53/03 or later
(4096 = 1min-1)
9D70/02 or later
SPCT1 Spindle Control Signal 1
SPCT2 Spindle Control Signal 2
9D50/11 or later
SPCT3 Spindle Control Signal 3 9D53/03 or later
9D70/02 or later
SPST1 Spindle Status Signal 1
SPST2 Spindle Status Signal 2
9D50/11 or later
SFLG1 Spindle flag 1 9D53/03 or later
9D70/02 or later
9D50/13 or later
SPPOS Spindle position data 9D53/04 or later
9D70/03 or later
9D50/11 or later
Load meter data
LMDAT 9D53/03 or later
(32768 = load meter voltage 10V)
9D70/02 or later
9D50/11 or later
Spindle load torque (Unexpected disturbance torque detection function)
DTRQ 9D53/03 or later
(16384 = maximum Motor torque 100%))
9D70/02 or later
9D50/11 or later
FREQ Frequency of disturbance torque (Disturbance input function) 9D53/03 or later
9D70/02 or later
Gain data (Disturbance input function)
GAIN 9D50/11 or later
(4096 = 100%)
9D50/11 or later
MTTMP Motor winding temperature (degrees centigrade) 9D53/03 or later
9D70/02 or later
9D50/11 or later
Motor sensor feedback incremental data
MFBDF 9D53/03 or later
(For amplitude ratio and phase difference compensation)
9D70/02 or later
9D50/11 or later
Spindle sensor feedback incremental data
SFBDF 9D53/03 or later
(For amplitude ratio and phase difference compensation)
9D70/02 or later

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B-65404EN/02 USAGE 5.GRAPH WINDOW
Meaning of measurement data
Symbol Remarks
Setting of conversion coefficient
9D50/11 or later
PA1 AD data of A phase of motor sensor 9D53/03 or later
9D70/02 or later
9D50/11 or later
PB1 AD data of B phase of motor sensor 9D53/03 or later
9D70/02 or later
9D50/11 or later
PA2 AD data of A phase of spindle sensor 9D53/03 or later
9D70/02 or later
9D50/11 or later
PB2 AD data of B phase of spindle sensor 9D53/03 or later
9D70/02 or later
DC link voltage 9D50/11 or later
VDC 200V SPM: 4096=100V 9D53/03 or later
400V SPM: 4096=170V 9D70/02 or later
9D50/11 or later
Semi-full error (Dual position feedback)
SFERR 9D53/03 or later
(224p/rev)
9D70/02 or later
9D50/11 or later
Semi-closed side error (Dual position feedback)
SMERR 9D53/03 or later
(224p/rev)
9D70/02 or later
9D50/20 or later
9D53/11 or later
SPACC Spindle acceleration
9D70/10 or later
9D80/04 or later

α spindle
The number of channel that you can set is only 1, and sampling period is 8msec.

Meaning of measurement data

Symbol Remarks
Setting of conversion coefficient
PCPOS Integral value of position feedback from position coder. (16384p/rev) 9D20/11 or later
Integral value of position feedback at Cs contour control. (360000 p/rev or
3600000 p/rev)
In the case that parameter No.4005#0 is 1 , the value is 3600000 p/rev.
Note)
CSPOS 9D20/11 or later
When motor speed is below the value,
[the maximum speed at Cs contour control mode × gear ratio + 50 ]
(min-1) integration is calculated actually.
If the speed become over the value, integral calculation is stopped.

Details about spindle data

Descriptions about measurable data for αi spindle.

Data for current and velocity control

SPEED (Motor speed, 4096 = 1 min-1)
Actual motor speed.
Maximum resolution of this data is "4096 = 1 min-1" at shift value="0".
In default setting, shift value is "-12" and the resolution is "1 = 1 min-1".

INORM (Amplitude of motor current)

Amplitude of actual motor current.
Set Conv. Coef. and Conv. Base according to following procedure to convert the unit to "Ap".
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5.GRAPH WINDOW USAGE B-65404EN/02

Unit : Select A(p).

Conv Coef. : Set 640 × Ga ÷ ICNV.
Conv. Base : Set 1024.

ICNV (current conversion constant) :

Setting of parameter No. 4110 (Low speed winding : parameter No. 4146)
Ga (current detecting gain) :
Coefficient for SPM model. See following table.

αiSP αiSP (HV) βiSVSP Ga

αiSP 2.2 αiSP 5.5HV
βiSVSP-5.5 16.67
αiSP 5.5 αiSP 11HV
–– –– βiSVSP-7.5 26.67
αiSP 15HV
αiSP 11 βiSVSP-11 33.33
αiSP 22HV
αiSP 15 αiSP 30HV βiSVSP-15 50.00
αiSP 22 αiSP 45HV –– 66.67
αiSP 26 –– –– 100.00
αiSP 30
αiSP 75HV –– 133.33
αiSP 37
αiSP 45 αiSP 100HV –– 150.00
αiSP 55 –– –– 233.33

IRMS (amplitude of motor current, 1=0.125Arms)

Effective current data of the motor. (data resulting from unit conversion of INORM)
The resolution of this data is 0.125Arms.

IPEAK (amplitude of motor current, 1＝0.125A(p))

Effective current data of the motor. (data resulting from unit conversion of INORM)
The resolution of this data is 0.125A(p).

TCMD (Torque command, 16384 = 100%)

"16384(100%)" is maximum torque command.

VCMD (Velocity command, 4096=1min-1)

Velocity command for actual motor speed control.
Maximum resolution of this data is "4096 = 1 min-1" at shift value="0".
In default setting, shift value is "-12" and the resolution is "1 = 1 min-1".

VERR (Velocity error, 4096=1min-1)

Difference data between velocity command and actual motor speed (VCMD-SPEED).
Maximum resolution of this data is "4096 = 1 min-1" at shift value="0".
In default setting, shift value is "-12" and the resolution is "1 = 1 min-1".

SPCMD (Velocity command data from CNC, 16384=Maximum motor speed)

Velocity command data from CNC on velocity control mode (spindle control mode).
16384=Maximum motor speed setting of parameter No. 4020)
Set Conv. Coef = setting of parameter No. 4020 and Conv. Base = 16384 to convert the unit to
"min-1".

SPSPD (Spindle speed, 4096=1min-1)

Actual spindle speed.
Maximum resolution of this data is "4096 = 1 min-1" at shift value="0".
In default setting, shift value is "-12" and the resolution is "1 = 1 min-1".

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B-65404EN/02 USAGE 5.GRAPH WINDOW
Arbitrary gear ratio (parameter No. 4171 to No.4174) should be set correctly in case of semi-closed
system.

Data for position control

MCMD (Motion command per communication period, 360000 or 3600000(*)p/rev or 4096p/rev)
Motion command transferred from CNC every communication period.
Cs contouring mode : 360000p/rev or 3600000p/rev *.
Other modes (Spindle synchronous mode, Rigid tapping mode) : 4096p/rev
(*) In case of IS-C setting.

ERR (Position error, 360000 or 3600000(*)p/rev or 4096p/rev)

Position error displayed on DGN No.714 (FAD position error ).
This data does not contain the error due to FAD smoothing.
Cs contouring mode : 360000p/rev or 3600000p/rev *.
Rigid tapping mode, Spindle synchronization mode : 4096p/rev
(*) In case parameter No. 4005#0 is set to "1".

ERRC (Position error (CNC), 360000 or 3600000(*)p/rev or 4096p/rev)

Position error displayed on DGN No.418 (regular position error).
This data contains the error due to FAD smoothing.
Cs contouring mode : 360000p/rev or 3600000p/rev *.
Other modes (Spindle synchronization mode, Rigid tapping mode) : 4096p/rev
(*) In case parameter No. 4005#0 is set to "1".

SYNC (Synchronous error, 4096 p/rev)

Synchronous error on rigid taping and spindle synchronization.
Rigid tapping : Difference between spindle position error and servo axis position error.
Spindle synchronization: Absolute value of position error difference between 1st spindle and 2nd
spindle.
parameter No. 3700#7 should be set to "1" to measure this data. (This function is for maintenance of
FS16i/18i/21i. You must set this parameter to"0" after use this function.)

ORERR (Position error at orientation, 224 p/rev)

Positional deviation used for position control at the time of orientation.
Maximum resolution of this data is "224 p/rev" at shift value="0".
In default setting, shift value is "-10" and the resolution is "16384 p/rev (360 deg)".

ORSEQ (Orientation sequence data)

This data indicates the status during spindle orientation.
You can check the status (orientation start, acc./dec. state, position loop close, ..etc.) during
orientation mode.
See following tables for relation of ORSEQ and control state.

Optimum orientation
ORSEQ Control state
0→1 Orientation command ON (ORCM = 0 → 1)
1 One-rotation signal detection
2 Acceleration/deceleration for detecting spindle acceleration
3 Close position loop. (Move command distribution)
4 Close position loop. (Completion of move command distribution)
4→0 Completion of orientation (ORAR = 0 → 1)

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5.GRAPH WINDOW USAGE B-65404EN/02

High speed orientation

ORSEQ Control state
0→1 Orientation command ON (ORCM = 0 → 1)
Acceleration/deceleration to orientation speed.
1
Preparing for position control.
1→3 Close position loop.
3 Deceleration according to Parameter No. 4320 - No. 4323.
3→7 Transition to positioning by position gain.
7 Positioning by position gain.
7→0 Completion of orientation (ORAR = 0 → 1)

Normal orientation
ORSEQ Control state
0→2 Orientation command ON (ORCM = 0 → 1)
Acceleration/deceleration to orientation speed.
2
Preparing for position control.
2→6 Close position loop.
6 Positioning by position gain.
6→0 Completion of orientation (ORAR = 0 → 1)

PCPOS (Integral value of position feedback, 224 p/rev)

Integration data of position feedback indicating the distance from origin point.
Maximum resolution of this data is "224 p/rev" at shift value="0".
In default setting, shift value is "-10" and the resolution is "16384p/rev (360deg)".
Arbitrary gear ratio (parameter No. 4171 to No. 4174) should be set correctly in case of semi-closed
system.

CSPOS (Integral value of position feedback, 360000 or 3600000(*)p/rev)

Integration data of position feedback indicating the distance from origin point.
Arbitrary gear ratio (parameter No. 4171 to No.4174) should be set correctly in semi-closed system.
(*) In case parameter No. 4005#0 is set to "1".

CSPOS2 (Integral value of position feedback, 360000 or 3600000(*)p/rev)

Data based on CSPOS but consideration given to coordinate polarities.

POS3D (Integral value of position feedback for 3-D view , 360000 or 3600000(*)p/rev)
To use 3-D path error magnification, this data must be measured.
Set the travel distance per pulse as the conversion coefficient.

WMDAT (Motion command per position loop, 224p/rev)

Motion command for actual position control.
Maximum resolution of this data is "224 p/rev" at shift value="0".
In default setting, shift value is "-10" and the resolution is "16384p/rev (360deg)".

ERR2 (Position error 2, 224 p/rev)

Position error for internal control loop. (Cs contouring mode, Rigid tapping mode)
This data does not contain the error due to FAD smoothing.
Maximum resolution of this data is "224 p/rev" at shift value="0".
In default setting, shift value is "-10" and the resolution is "16384 p/rev (360deg)".

ERR2C (Position error 2 (CNC), 224 p/rev)

Position error for motion command from CNC. (Cs contouring, Rigid tapping, Spindle
synchronization)
This data contains the error due to FAD smoothing.
Maximum resolution of this data is "224 p/rev" at shift value="0".
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B-65404EN/02 USAGE 5.GRAPH WINDOW
In default setting, shift value is "-10" and the resolution is "16384p/rev (360deg)".

SFERR (Semi-full error, 224 p/rev)

Difference data between full-closed side error and semi-closed side error (ERR1-SMERR) of dual
position feedback function.
Maximum resolution of this data is "224 p/rev" at shift value="0".
In default setting, shift value is "-10" and the resolution is "16384p/rev (360deg)".

SMERR (Position error of semi-closed side, 224 p/rev)

Semi-closed side position error of dual position feedback function.
Maximum resolution of this data is "224 p/rev" at shift value="0".
In default setting, shift value is "-10" and the resolution is "16384p/rev (360deg)".

SPACC (spindle acceleration, 1=10min-1 /sec)

Spindle acceleration data.
The resolution of this data is 10min-1/sec.

Spindle control signal and Spindle status signal

See following tables for configurations of Spindle control signals and Spindle status signals.
For details about each signals refer to "FANUC AC SPINDLE MOTOR αi series/βi series PARAMETER
MANUAL (B-65280EN)"

SPCT1 (Spindle control signal 1)

#15 #14 #13 #12 #11 #10 #9 #8
RCH RSL INTG SOCN MCFN SPSL *ESP ARST
#7 #6 #5 #4 #3 #2 #1 #0
MRDY ORCM SFR SRV CTH1 CTH2 TLMH TLML

SPCT2 (Spindle control signal 2)

#15 #14 #13 #12 #11 #10 #9 #8
DSCN SORSL MPOF
#7 #6 #5 #4 #3 #2 #1 #0
RCHHG MFNHG INCMD OVR DEFMD NRRO ROTA INDX

SPCT3 (Spindle control signal 3)

#15 #14 #13 #12 #11 #10 #9 #8

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

SPST1 (Spindle control signal 1)

#15 #14 #13 #12 #11 #10 #9 #8
RCFN RCHP CFIN CHP
#7 #6 #5 #4 #3 #2 #1 #0
ORAR TLM LDT2 LDT1 SAR SDT SST ALM

SPST2 (Spindle control signal 2)

#15 #14 #13 #12 #11 #10 #9 #8
CSPEN
#7 #6 #5 #4 #3 #2 #1 #0
EXOF SOREN INCST PC1DT

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5.GRAPH WINDOW USAGE B-65404EN/02

Other data
SFLG1 (Spindle flag 1)
Frequently used PMC signals and internal flags are included in this data.
See following table for configuration of this data.
For details about PMC signals refer to "FANUC AC SPINDLE MOTOR αi series/βi series
PARAMETER MANUAL (B-65280EN)"

#15 #14 #13 #12 #11 #10 #9 #8

TCSAT TRNSNT
#7 #6 #5 #4 #3 #2 #1 #0
ORAR ORCM SFR SRV SAR SDT SST FGRD

(*1) FGRD (1 rev. signal detecting flag) :

Internal flag indicating that if this flag is set to 1, a one-rotation signal is generated
(*2) TRNSNT(Transient state flag (acc./dec. state)) :
Internal flag indicating that if this flag is set to 1, the transient state (acceleration/deceleration is in
progress) is present.
(*3) TCSAT (Torque command saturation flag) :
Internal flag indicating that if this flag is set to 1, the torque command is saturated.

SPPOS (Spindle position data, 224 p/rev)

Spindle position data from 1-rotation signal.
Maximum resolution of this data is "224 p/rev" at shift value="0".
In default setting, shift value is "-12" and the resolution is "4096p/rev".
You should set shift amount between "-15" and "-10".
Arbitrary gear ratio (parameter No. 4171 to No. 4174) should be set correctly in case of semi-closed
system.

LMDAT (Load meter data, 32768 = 10V)

This data is equivalent to load meter voltage output from LM terminal(JY1) of SPM.
32768(10V)=Maximum motor output (about 1.2 times of short time rated power).
When you convert this data equivalent to load meter display value on CNC screen,
Set Conv. Coef = setting of parameter No. 4127 (Low speed winding : No. 4093) and Conv. Base =
32768.

DTRQ (Spindle load torque, 16384 = maximum Motor torque 100%)

Estimated spindle load torque for "Unexpected Disturbance torque Detection Function"
16384(100%) = Maximum motor torque.(about 1.2 times of short time rated torque)
For data output, the option of the unexpected disturbance torque detection function is required.

FREQ (Frequency of disturbance torque, Hz)

Frequency of disturbance torque command of disturbance input function.

GAIN (Gain data, 4096=100%)

Gain data of disturbance input function. You can measure frequency response of velocity loop and
seek out resonance point.
Frequency at gain data = 70% is cut-off line (-3dB) of velocity loop.
For details about disturbance input function, refer to "FANUC AC SPINDLE MOTOR αi series/βi
series PARAMETER MANUAL (B-65280EN)"

MTTMP (Motor winding temperature, °C)

Motor winding temperature data displayed on DGN No.403.
Resolution of this data is 1 °C.

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B-65404EN/02 USAGE 5.GRAPH WINDOW
MFBDF (Incremental data of motor feedback)
Incremental data of motor sensor feedback (connected to JYA2). You can use this data for adjusting
amplitude ratio and phase difference compensation.
65536 is equivalent to 1 λ of BZi sensor.
Set Conv. Coef = (360/λ) and Conv. Base = 65536 to convert the unit to "deg."
In default setting, Conv. Coef. is set to "1.40625" for 256 λ BZi sensor.
Adjust parameter Nos. 4355 and 4356 to minimize the variation width of this data while in the
velocity control mode, turning the motor at a motor speed of 4685/λ [min-1] by specifying a velocity
command.
For details about this function, refer to "FANUC AC SPINDLE MOTOR αi series/βi series
PARAMETER MANUAL (B-65280EN)"

SFBDF (Incremental data of spindle feedback)

Incremental data of spindle sensor feedback (connected to JYA4).
You can use this data for adjusting amplitude ratio and phase difference compensation.
65536 is equivalent to 1 λ of BZi sensor.
Set Conv. Coef = (360/λ) and Conv. Base = 65536 to convert the unit to "deg."
In default setting, Conv. Coef. is set to "1.40625" for 256 λ BZi sensor.
Adjust parameter Nos. 4357 and 4358 to minimize the variation width of this data while in the
velocity control mode, turning the motor at a motor speed of 4685/λ [min-1] by specifying a velocity
command.
For details about this function, refer to "FANUC AC SPINDLE MOTOR αi series/βi series
PARAMETER MANUAL (B-65280EN)"

PA1/PB1 (AD data of motor sensor A phase/B phase, 65536=1.48V)

AD conversion data of motor sensor A phase/B phase (connected to SPM JYA2).
You can measure amplitude and offset at mounting BZi sensor.
When you measure these data, the motor speed should be under 3072/λ [min-1]. (λ : teeth number of
BZi sensor gear)

PA2/PB2 (AD data of spindle sensor A phase/B phase, 65536=1.48V)

AD conversion data of spindle sensor A phase/B phase (connected to SPM JYA4).
You can measure amplitude and offset at mounting BZi sensor.
When you measure these data, the spindle speed should be under 3072/λ min-1. (λ : teeth number of
BZi sensor gear)
For details about regulations refer to "MAINTENANCE MANUAL (B-65285EN)"

NOTE
When you measure PAx/PBx by SERVO GUIDE, regulation of offset data (Voffs)
is not 2.5V ± 100mV (described in MAINTENANCE MANUAL) but 0V ± 100mV.

VDC (DC link voltage, 4096=100V or 170V)

AD conversion data of DC link voltage.
200V SPM : 4096=100V
400V SPM (HV) : 4096=170V

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5.6.9 Available Data at I/O Link βi Axes

Measurable data table on servo axis is displayed.

Meaning of measurement data

Symbol Remarks
Setting of conversion coefficient
Integral value of position feedback
POSF
Set moving distance per 1 pulse (Detection unit).
Velocity command
VCMD
Set 3750min-1.
Torque command
TCMD
Set maximum current value (Ap) of using amplifier.
Real speed
SPEED
Set 3750min-1.
Position error
ERR
Set moving distance per 1 pulse (Detection unit).
R-phase current
IR
Set maximum current value (Ap) of using amplifier.
S-phase current
IS
Set maximum current value (Ap) of using amplifier.
Actual current
IEFF
Set maximum current value (Ap) of using amplifier.
Active current
IQ
Set maximum current value (Ap) of using amplifier.
Reactive current
ID
Set maximum current value (Ap) of using amplifier.
Adjustment data 1
ARB1
Depends on the settings of parameters Nos. 036 and 037.
Adjustment data 2
ARB2
Depends on the settings of parameters Nos. 038 and 039.

Settings for measuring disturbance estimation (DTRQ)

Meaning of measurement data

Symbol Remarks
Setting of conversion coefficient
Conversion setting of disturbance estimation
No.036=20
ARB1 Conversion coefficient: Set the maximum current value (Ap) of the amplifier used.
No.037=3
Conversion standard: Set 7282.

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5.7 OPERATION SETTING

5.7.1 Procedure
Operation of calculation mode for waveform display is shown by the following method.
Click the operation of calculation button on toolbar, select [calculation display] on [operation] menu in
graph window or click shortcut key [F5], too.

On this page, necessary items for waveform display are set. The following items are set:

• Selection of a basic graph mode

• Selection of an operation for each Draw
• Selection of input (measurement data) for each Draw
• Selection of the display unit of each Draw
• Setting of a coordinate conversion to be applied to each Draw (if necessary)
• Setting of a reference waveform for contour comparison (if necessary)

5.7.2 Basic Graph Mode

Selection of Basic Graph Mode
Select Basic Graph Mode among following three.

Y-Time mode
This mode shows the data like oscilloscope which shows time as horizontal axis and value as
vertical axis.
This mode has most various kinds of operations for data analysis.
XY mode
This mode shows the XY display made by two channels which is selected from all channels.
The CONTOUR mode, which shows the contour error of arbitrary program path, is included in this
mode.
Circle mode
This mode shows the contour error of circle path.
The parameters for reference circle should be set at the dialog for scale change.
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We prepare some sheets to set the scale for every Basic Graph Mode.
Scale setting (Y-Time) : The scale setting for YT mode
Scale setting (XY) : The scale setting for XY mode and CONTOUR mode
Scale setting (Circle) : The setting for circle mode

You can change the scale by above sheets. You can use the auto-scale, the expansion and the shrink by
keyboard operations also.

Special graph modes

You can't set the operations for the following special mode. Use the exclusive menu of Graph Window.

• Vibration frequency (Fourier Mode)

• Frequency response (Bode)

5.7.3 Available Operations

When you select "Basic Graph mode", the operation list you can select will be shown according to Basic
Graph Mode.

The followings are all operations.

YT mode (The horizontal axis shows Time.)

Operations Contents
No operation ((Data on a selected channel is displayed directly without operation)The vertical axis
shows the amount of "Input1". You can select the data of all channels.
When you use polar coordinates conversion, set radius to "Input1" and angle to"Input2".
YT
R*cos(theta) will be shown at Draw1,3,5,7. R*sin(theta) will be shown at Draw2,4,6,8.
When performing angular axis conversion, set a Cartesian axis in "Input1" and an angular axis in
"Input2".
1st order differential data of position will be shown. (It means velocity or angular velocity.)
The vertical axis shows the amount of "Input1".
Diff1(VT)
This can be available only against the channel which get position data.
Polar coordinates conversion and angular axis conversion are disabled.
2nd order differential data of position will be shown. (It means acceleration or angular acceleration.)
The vertical axis shows the amount of "Input1".
Diff2(AT)
This can be available only against the channel which get position data.
Polar coordinates conversion and angular axis conversion are disabled.
3rd order differential data of position will be shown. (It means jerk.)
The vertical axis shows the amount of "Input1".
Diff3(JT)
This can be available only against the channel which get position data.
Polar coordinates conversion and angular axis conversion are disabled.
Tangent speed display.
This can be available only against the channel which get position data.
The composite speed of "Input1" and "Input2" is displayed.
When using polar coordinates conversion, set a radius in "Input1" and an angle in "Input2".
Tangent
When using angular axis conversion, set a Cartesian axis in "Input1" and an angular axis in
"Input2".
When polar coordinate conversion is set, a composite speed is calculated for the position data
(cos,sin) obtained after polar coordinate conversion.
N-axes tangent speed display
This can be available only against the channel which get position data.
Tangent N The composite speed of position data from a channel specified in "Input1" to a channel specified in
"Input2" is displayed. The data on all the target channels for composition must be position data.
Polar coordinates conversion and angular axis conversion are disabled.

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Operations Contents
The smoothness of feed will be shown.
This can be available only against the channel which get position data.
Smooth
It means the deviation from ideal path which is calculated by the supposition of constant speed
from the start point to end point.
The synchronous error will be shown.
This can be available only against the channel which get position data.
Synchro
It means the difference (Input2-Input1) between "Input1" and "Input2". We suppose that the
feedback ratio between them is 1:1 so far.
Bit indication
Bit Used for signal waveform indication.
Select a channel to be displayed in "Input 1" and a bit position to be displayed in "Input 2".
YT(SPD)
Used for the spindle tuning function ("Measurement of Acc./Dec. performance").
YT(CUR)
ORI(SPD)
ORI(SEQ)
ORI(SPDmax)
ORI(SEQmax)
Used for the spindle tuning function ("Measurement of orientation").
ORI(SPDmin)
ORI(SEQmin)
YT(TCMD)
YT(ORERR)
Position error
ERR
Available only for a channel for which "POS3D" is set in "Kind" in the "Channel" setting dialog.
Path error (2-D error)
PathErr2D
PathErr2D indicates the magnitude of the error vector of a 2-D path error.
PathErr2Dx
PathErr2Dx and PathErr2Dy indicate the x and y components of a 2-D error vector, respectively.
PathErr2Dy
Available only for a channel for which "POS3D" is set in "Kind" in the "Channel" setting dialog.

XY mode
Operations Contents
XY display will be shown.
The horizontal axis shows "Input1" and the vertical axis shows "Input2".
XY When using polar coordinates conversion, set a radius in "Input1" and an angle in "Input2".
When using angular axis conversion, set a Cartesian axis in "Input1" and an angular axis in
"Input2".
XY contour error will be shown.
The horizontal axis shows "Input1" and the vertical axis shows "Input2".
When using polar coordinates conversion, set a radius in "Input1" and an angle in "Input2".
Contour
When using angular axis conversion, set a Cartesian axis in "Input1" and an angular axis in
"Input2".
It's necessary to set Reference data to calculate the error.
TqVacc
TqVdec
TVacc Used for the spindle tuning function ("Measurement of Acc./Dec. performance").
TVdec
TV85%
Path error magnification
It magnifies the path error of a 2-D path specified in a command.
PathErr2D
The multiplication ratio used in the CONTOUR mode is used.
Available only for a channel for which "POS3D" is set in "Kind" in the "Channel" setting dialog.
A reference waveform will be shown.
PathRef2D It displays a path specified in a command that is used for calculating a 2-D path error.
Available only for a channel for which "POS3D" is set in "Kind" in the "Channel" setting dialog.

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CIRCLE mode
Operations Contents
Circle contour error will be shown.
The horizontal axis shows "Input1" and the vertical axis shows "Input2".
When using polar coordinates conversion, set a radius in "Input1" and an angle in "Input2".
Circle
When using angular axis conversion, set a Cartesian axis in "Input1" and an angular axis in
"Input2".
Set the circle radius at the dialog of scale setting to determine the reference circle.

BODE mode
Operations Contents
Bode Frequency response display
Bode (SpTune) Frequency response display (spindle tuning function)

Setting of coordinates conversion

Polar coordinates conversion (XYR)
This is used for measuring polar coordinate interpolation data. Rotation axis data (in degrees) is
always required for measurement data.
Angular axis conversion (XYA)
This is used for measuring angular axis control data.

Setting of input channels

For "Input1" and "Input2" in the list, channels that can be selected depending on the operation are set. If
there is no channel to select, the color becomes gray.

5.7.4 Setting of Unit

Some available units are shown in the combo-list according to the kind of data and operation you select.

If you want to use the polar conversion, you have to measure the position data of one rotary axis at least.
(You have to select "deg" as the unit.)

5.7.5 Load Reference Path

When you select XY mode on basic graph mode , you can load reference path.

There are the following four choices as reference path.

(1) Preset path 1 (20R5) "PRESET"

(2) Preset path 2 (40R5) "PRESET"
(3) Loading files "FILE"
(4) Loading from program window "CUSTOM"

Preset path
These are the reference paths prepared beforehand. There are two kinds of square which have 1/4 arc
at every corner.
Preset path 1 is program path drawn in the default condition of " Square with 1/4 arc".
Preset path 2 is program path drawn in the default condition of " Cs contouring control ".

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File
Reference waveform is loaded from file. The necessary file format is CSV format (plane text divided
by commas).

0.000,10.000
1.000,10.000

Program window
You can use program path drawn by program window.

5.8 SCALE SETTING

5.8.1 Overview
The display domain of the graph window can be set directly on the page of scale setting.

The setting page is divided by the base graph mode.

• Scale setting (Y-Time)

• Scale setting (XY)
• Scale setting (Circle)

When special graph mode is selected, following special setting page can be displayed.

• Scale setting (Fourier)

• Scale setting (Bode)

5.8.2 Scale (Y-Time)

Scales of the graph in Y-Time mode can be set here.

Origin:
Set the center coordinates of display data (Draw 1..8: vertical axis).
Set the starting time of display data (Time: horizontal axis).

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Division:
Set the value per one grid of display data (Draw 1..8: vertical axis).
Set the time per one grid of display data (Time: horizontal axis).

5.8.3 Scale (XY)

Scales of the graph in XY mode can be set here.

Origin (horizontal, vertical):

Set the center coordinates of display data.
Division(horizontal, vertical):
Set the value per one grid of display data.
Magnify:
Set the multiple ratio of the contour error (control deviation on a XY path) in CONTOUR mode.
This multiple ratio is also used for an operation for PathErr2D.

A scale setting in XY mode is common to all Draws.

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5.8.4 Scale (Circle)

Scales of the graph in CIRCLE mode can be set here.

Center point (horizontal):

Set the abscissa (horizontal coordinates) of the center of the circle.
Center point (vertical):
Set the ordinate (vertical coordinates) of the center of the circle.
Radius:
Set the radius of the circle.
Division :
Set the scale of the circle display. An expansion of a display by [u] key and shrink by [d] key are
also available in graph display.
Zoom :
Set the multiple ratio for expansion against the central angle at the point of quadrant change. It is
effective at watching the details of a quadrant protrusion. Usually, use it as 1.0.
An expansion of a display by [z] key and reduction by [shift + z] key are also available in graph
display.

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5.8.5 Scale (Fourier)

Scales of the graph in FOURIER mode (vibration frequency analysis display) can be set here.

Origin (horizontal, vertical):

Set the values of center in Gain-diagram and Phase-diagram.
Division (horizontal, vertical):
Set the value per one grid of display data.
Frequency:
Set the minimum value and maximum value of a horizontal axis. The unit is not necessarily 1=1Hz,
because it depends on the time range chosen in Y-Time mode.
Example)
The unit of frequency is equivalent to 1= 10Hz when the time range for 0.1 seconds is chosen.

5.8.6 Scale (Bode)

Scales of the graph in BODE mode (frequency response display) can be set here.

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Origin:
Set the values of canter in Gain-diagram and Phase-diagram.
Division:
Set the values per one grid of Gain-diagram and Phase-diagram.
Frequency:
Set the minimum value and maximum value of a horizontal axis. The unit of frequency is Hz.

5.9 EASY GRAPH MODE

We prepared the setting way to change the operations which must be often used in SERVO GUIDE
Graph Window. We call it "Easy Graph Mode". You can use it from menu or shortcut.

List of Easy Graph Mode

Mode Explanation
XTYT mode Raw data will be shown. (The horizontal axis means time.)
[Ctrl] + [T] The data of all channels will be shown.
Velocity display (The horizontal axis means time.)
The 1st order differential will be done against the position data of measurement
VT mode
channel. It means velocity.
[Ctrl] + [V]
(The differential is not done against the data except position. So VCMD, TCMD and etc
are shown as raw data.)
Acceleration display (The horizontal axis means time.)
The 2nd order differential will be done against the position data of measurement
AT mode
channel. It means acceleration.
[Ctrl] + [A]
(The differential is not done against the data except position. So VCMD, TCMD and etc
are shown as raw data.)
Circle error display
CIRCLE mode The contour error of circle will be shown. The horizontal axis means CH1 and the
[Ctrl] + [B] vertical axis means CH2.
The reference circle should be set at the dialog of scale setting.
XY display
XY mode
The XY path will be shown. The horizontal axis means CH1 and the vertical axis means
[Ctrl] + [X]
CH2.
Tangent velocity display (The horizontal axis means time.)
XTVT mode
Draw1 shows the position of CH1. Draw2 shows the tangent velocity made by CH1 and
[Ctrl] + [W]
CH2.
The smoothness of moving will be shown. (The horizontal axis means time.)
DXDY mode The smoothness of moving against the measurement channel will be shown.
[Ctrl] + [D] (This operation is not done against the data except position. So VCMD, TCMD and etc
are shown as raw data.)
The contour error will be shown.
CONTOUR mode
The contour error between the reference path and the XY path made by CH1 and CH2
[Ctrl] + [O]
will be shown.
NORMAL mode Cancellation of coordinate conversion mode
[Ctrl] + [R] The POLAR mode and ANGULAR mode are canceled.
Polar coordinates conversion mode On/Off
Use this for the conversion from the movement by one rotary axis and one straight axis
POLAR(XYR) mode
to two straight axes.
[Ctrl] + [R]
We suppose CH1 is straight axis and CH2 is rotary axis in Easy Graph mode.
This can be used with XTYT mode, CIRCLE mode, XY mode and CONTOUR mode.
Angular axis conversion mode On/Off
ANGULAR(XYA) mode Use this for the conversion from the movement by angular axis to perpendicular axis.
[Ctrl] + [R] We suppose CH1 is perpendicular axis and CH2 is angular axis in Easy Graph mode.
This can be used with XTYT mode, CIRCLE mode, XY mode and CONTOUR mode.

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Mode Explanation
Frequency analysis (FOURIER conversion)
FOURIER mode
The data, which are calculated by Fourier conversion against the display data of all
[Ctrl] + [F]
channels will be shown.

* This Easy Graph Mode realize the similar shortcut handling as SD.EXE.
(SD.EXE is the soft on MS-DOS that analyzes the data on servo axis.)

NOTE
FOURIER mode can be used only in Easy Graph Mode.

5.10 SPECIAL GRAPH DISPLAY MODES

5.10.1 Frequency Analysis (Fourier Transformation) Display Mode

Overview
This mode displays the vibration frequency of measurement data.
Fourier transformation is performed for waveform data ranging from the start time (start point) and end
time (end point) in the Y-Time mode, and frequency components in strength and phase are displayed.

Display procedure
In any Y-Time mode, display the target waveform for vibration analysis, and select a time domain so that
just the part to be analyzed is displayed. Select [FOURIER] in the [Mode (M)] menu of the Graph
Window, or press [Ctrl]+[F] to enter the frequency analysis display mode.

Strength display

Phase display

NOTE
1 The weight of frequency for horizontal axis will be changed according to the time
domain you select.
Example: If the display range is 0.1 second, the unit is 1/0.1 = 10 Hz.
2 When you display the result of frequency analysis, you can't save the data to a
file. In this case, return to the Y-Time mode and after that save it.
3 The log scale display can't be available for horizontal axis.

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5.10.2 Frequency Response (Bode Diagram) Display Mode

Overview
This mode is used to display the velocity loop frequency response and position loop frequency response
(Bode diagram) that can be measured by the frequency response tool of the Graph Window (see
Subsections 5.11.1 and 5.11.2).

Procedure
From [Frequency Response] in the [Tool (T)] menu of the Graph Window, select [Bode plot] or press
[Ctrl]+[M] to enter the frequency response mode.

Gain display

Phase display

NOTE
1 The frequency response display mode can be entered only when the frequency
response is measured with the frequency response tool of the Graph Window,
Spindle Tuning Tool, or Tuning Navigator.
2 It is not allowed to change the horizontal axis of the frequency response display
to other than the logarithmic scale display.

5.11 TOOL

5.11.1 Frequency Response (Velocity Loop)

Overview
You can get the frequency response of velocity loop. And you can see the result by Bode diagram.

Mechanism
The servo software generates the SIN wave disturbance by itself. And it is input to TCMD with changing
the frequency.
It makes the vibrations against the target machine. We can know the frequency response by the SIN input
disturbance and the output of the velocity controller (TCMD).

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NOTE
This tool does not support the measurement of the frequency response of
spindle axes. For the measurement of the frequency response of a spindle axis,
see 5.14.3, “Frequency Response Measurement".

Measurement way
Do the following way.

(1) Select menu [Tool(T)] -> [Frequency Response(F)] -> [Measure – velocity loop]. You can see the
dialog for "Frequency Response Measurement".
(2) If you select the axis to measure frequency response and press the <Start> button, this software
makes vibrations to target axis of machine automatically , and you can see the frequency response.
(3) If you press the <Detail(D)> button, you can set the optional setting. Set if you need.
(4) In case that you want to draw the Bode diagram again, select menu [Tool(T)] -> [Frequency
Response(F)] -> [Bode plot].
(5) The options you can set at <Detail(D)> are as follows.

Item Description
Sweep method SWEPT SIN : The method is adopted in servo software series 9090. (However, you can use
this method in series 90B0.
Single sweep : The method is adopted in servo software series 90B0.
(The way is selected by servo software series automatically, you don't need change the way.)
Sweep frequency Set the maximum and minimum value of frequency to measure. According to sampling
theory, frequency of target is bigger than half frequency of sampling. If you set larger value
than the frequency, the aliasing can be seen in the measurement data. Be careful this point
when you set the maximum frequency,
Series 9096 : Sampling time is 1msec. So maximum frequency is 500Hz.
Series 90B0 : Sampling time is 250μsec. So maximum frequency is 2kHz.
* The upper fixed value in each series is adopted as sampling time.
(Default : from 10 to 1000Hz)
Amplitude of Input This parameter is amplitude ( of one side ) when we suppose the maximum current of
amplifier means 7282. When the backlash of the target machine is big, it may be necessary to
make the amplitude larger.
If you make this value too big, OVC alarm may occur. Be careful.
(Default : 1000)

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Item Description
Others Make settings to avoid canceling the measurement due to an alarm and changing gain
settings during measurement. These settings are applied at the start of the measurement and
restored to these original values at the end of the measurement. You can see the functions
listed below that are actually used. If you do not want to change the setting, uncheck the item.

To expand the excess error level at the stop

: The excess alarm may occur if your error threshold is small, because this measurement is
realized by input of torque disturbance.
If you check this option, only when you measure the frequency response, the excess error
level at the stop will become 32767.

Position gain is set to 1

: To prevent position loop effect, position gain will become 1 when you measure frequency
response of velocity loop.

Disable proportional gain down on stop

: When you measure the frequency response, this option makes gain down function disable.

Disable unexpected disturbance torque detection function

: Unexpected disturbance torque detection function doesn't work by SIN wave disturbance.

CAUTION
Some alarm detection will be invalidated in order to avoid detecting an alarm
unintentionally with frequency response measurement. Carefully measure the
frequency response with keeping that in mind.

Limitations
• For the α spindle system, the frequency response of spindle axes cannot be measured.
• You can see the data only with the log scale display as horizontal axis.

5.11.2 Frequency Response (Position Loop)

Overview
You can get the frequency response of position loop of a servo axis. And you can see the result by Bode
diagram.

Mechanism
The servo software generates the SIN wave disturbance by itself. And it is input to TCMD with changing
the frequency.
It makes the vibrations against the target machine. We can know the frequency response by the SIN input
disturbance and the output of the position controller (TCMD).

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Series and editions of applicable servo software

Series 30i, 31i, 32i-A : 90E1/04.2 and subsequent editions, 90E0/30.0and subsequent editions

Measurement way
Do the following way.

(1) Select menu [Tool(T)] -> [Frequency Response(F)] -> [Measure – position loop]. You can see the
dialog for "Frequency Response Measurement".
(2) If you select the axis to measure frequency response and press the <Start> button, this software
makes vibrations to target axis of machine automatically , and you can see the frequency response.
(3) If you press the <Detail(D)> button, you can set the optional setting. Set if you need.
(4) In case that you want to draw the Bode diagram again, select menu [Tool(T)] -> [Frequency
Response(F)] -> [Bode plot].
(5) The options you can set at <Detail(D)> are as follows.

Item Description
Sweep method For the measurement of the frequency response of position loop, only "Single sweep" is
available. The sampling cycle is fixed to 1 ms.
Sweep frequency Set the maximum and minimum value of frequency to measure.
The frequency is measured in units of 1 Hz at 1 to 10 Hz and in units of 5 Hz at 10 Hz or
higher.
(Default: 1 to 200Hz)
Amplitude of Input Set the disturbance velocity command amplitude (one side amplitude) in units of 0.1 min-1.
For a linear motor, set the value in units of about 5 mm/min.
When the backlash of the target machine is large, it may be necessary to make the amplitude
larger.
Note that if you make this value too large, an OVC alarm may be issued.
(Default : 50 = 5.0min-1, 250mm/min)

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Item Description
Others Make settings to avoid canceling the measurement due to an alarm and changing gain
settings during measurement. These settings are applied at the start of the measurement and
restored to these original values at the end of the measurement. You can see the functions
listed below that are actually used. If you do not want to change the setting, uncheck the item.

To expand the excess error level at the stop

: When you measure the frequency response, this option prevents an excess error alarm at
the stop from being issued.

Disable velocity gain down on stop

: When you measure the frequency response, this option disables the velocity loop gain
down function.

Disable unexpected disturbance torque detection function

: When you measure the frequency response, this option prevents a malfunction of the
unexpected disturbance torque detection function.

Invalidate excess error (servo)

: When you measure the frequency response, this option disables the function for detecting
the excess error between the estimated and actual positions.

Invalidate position gain loop switching

: When you measure the frequency response, this option disables the gain switching
function.

Invalidate optimum acceleration

: When you measure the frequency response, this option disables position gain switching of
the positioning function based on optimum acceleration/deceleration.

Invalidate high speed positioning

: When you measure the frequency response, this option disables the high speed
positioning function.

CAUTION
1 If the input amplitude is too small, the frequency response cannot be measured
properly. In this case, increase the input amplitude. Carefully set a minimum
required input amplitude with avoiding an excessive vibration of the machine.
2 Some alarm detection will be invalidated in order to avoid detecting an alarm
unintentionally with frequency response measurement. The following parameters
will be changed temporarily. Carefully measure the frequency response with
keeping that in mind.
Excess error level at stop state : No. 1829 = Detection unit for 5 mm
(0.2inch, 5deg)
Unexpected disturbance torque detection : No.2016#0=0
Excess error detection (servo) : No.2419#0=0

Limitations
• You can see the data only with the log scale display as horizontal axis.

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5.11.3 Smooth Compensation Setting Support

Overview
There is a function to support the setting of "Smooth compensation" with using linear motors and
synchronous built-in servo motors.

NOTE
If you use the Synchronous Built-in Servo Motor (what is called ”DD motor”),
parameter setting No.2207#1=1 enables the smoothness compensation function
same as in the linear motors. (SERVO GUIDE 3.00 or later)

After you measure the ROTOR and TCMD data in Graph window, select [Linear Motor Comp. Cal] in
[Tool(T)] menu. The following dialog is shown.
For synchronous built-in servo motors, measure the ROTDD and TCMD data.

In this screen, when you press the <Add> and <Calc> buttons, smooth compensation parameters are
automatically calculated. If the mouse pointer is positioned on an item, the explanation of the parameter
and corresponding parameter number will be displayed as hints. The parameter values can also be
transmitted to the CNC by pressing the <Set param.> button.

For details, see Section 1.10, "LINEAR MOTOR SMOOTHING COMPENSATION", in "CONCRETE
EXAMPLES".
You can set the following options for calculating smooth compensation parameters. They will be
displayed by pressing the <Setting> button.

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ROTOR / ROTDD evaluation

To reduce the smooth compensation calculation error, measuring at least 2 cycles of
Show waveform shortage the waveform is recommended. If the waveform used for calculating smooth
warning under 2 cycles compensation is shorter than 2 cycles, a warning message will be displayed.
This option is valid by default.
This option allows you to check the range (evaluation range) of the waveform used
for calculating smooth compensation.
Draw waveform evaluation
The data obtained at the start of movement is not used. Setting a little long value for
range(s)
the traverse length is recommended.
This option is valid by default.
TCMD analysis
This option removes gradual changes in the TCMD waveform using the least square
approximation before calculating the compensation.
Use least square Use this option when the vertical torque component is changed with the movement
approximation as shown in the angular rotation axis of a 2-axis rotation table.
This option is valid by default. If you want to obtain the same result as for SERVO
GUIDE Ver. 6.30 or earlier, invalidate this option.
Specify the approximation order for approximating the TCMD waveform. Normally,
Number of approx. order
you do not need to change the value.
This option allows you to check the result of using the least square approximation for
Draw approximated curve
the TCMD waveform.
This option allows you to check the result of calculating the difference between the
Draw residual of approximated TCMD waveform and approximated curve.
curve When approximation is used, the smooth compensation is calculated using this
waveform.
Comp. calculation
You can select the window function to be used for frequency analysis. Normally, you
Use rectangular window do not need to change the setting.
Use hamming window The humming window is used by default. If less than 2 cycles of a waveform are
(waveform of 2 cycles and over measured, however, the rectangular window is always used.
only) If you want to obtain the same result as for SERVO GUIDE Ver. 6.30 or earlier,
select the rectangular window.
This option allows you to check the compensation waveform created according to
Draw estimated-compensation smooth compensation data.
curve When proper compensation is applied, a waveform approximate to the TCMD
waveform is displayed.

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5.12 CURSOR FUNCTION

Overview
The cursor function displays vertical and horizontal lines in the graph domain in the Graph Window and
shows difference, average, maximum, and minimum values between the lines.

5.12.1 Cursor Function (Y-Time)

The cursor configuration when Basic Graph Mode is Y-Time mode is shown below.

Cursor :
Whether each check box in the cursor disp. panel is available is listed below.
Check box Available/Unavailable
W-info Available only when is valid
Available
Available

Waveform information box :

Items displayed in the waveform information box are described below.
Indication Description Remarks
Ave : Average value between vertical cursors
RMS : Root-mean-square value between vertical
The values are displayed only when a
cursors
target waveform is selected.
Max : Maximum value between vertical cursors
Min : Minimum value between vertical cursors
: Difference value between vertical cursors The value is always displayed.
: Difference value between horizontal cursors The value is displayed only when a
target waveform is selected.

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5.12.2 Cursor Function (XY)

The cursor configuration when Basic Graph Mode is XY mode is shown below.

Cursor :
Whether each check box in the cursor disp. panel is available is listed below.
Check box Available/Unavailable
W-info Unavailable
Available
Available

Waveform information box :

Items displayed in the waveform information box are described below.
Indication Description remarks
: Difference value between vertical cursors The value is always displayed.
: Difference value between horizontal cursors The value is always displayed.

5.12.3 Cursor Function (Fourier)

The cursor configuration when Basic Graph Mode is Fourier mode is shown below.

Cursor :
Whether each check box in the cursor disp. panel is available is listed below.
Check box Available/Unavailable
W-info Available
Unavailable
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Check box Available/Unavailable

Unavailable

Waveform information box :

Items displayed in the waveform information box are described below.
Indication Description Remarks
Freq : Frequency at the vertical cursor position
Mag : Magnitude at the vertical cursor position The values are displayed only when a
Ph : Phase at the vertical cursor position target waveform is selected.

5.12.4 Cursor Function (Bode)

The cursor configuration when Basic Graph Mode is Bode mode is shown below.

Cursor :
Whether each check box in the cursor disp. panel is available is listed below.
Check box Available/Unavailable
W-info Available
Unavailable
Unavailable

Waveform information box :

Items displayed in the waveform information box are described below.
Indication Description Remarks
Freq : Frequency at the vertical cursor position
Gain : Gain at the vertical cursor position The value is always displayed.
Ph : Phase at the vertical cursor position

5.12.5 Cursor Operation Procedure

The cursors displayed in the Graph Window can be selected and moved.
This subsection describes how to operate cursors.

Selecting a cursor
• Left-click a cursor to select it.
• Left-click a point not on a cursor to deselect the cursor.
• Only one cursor can be selected at a time.

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Moving a cursor
• Left-drag a cursor to move it.
• The cursor can be moved up to an edge of the graph domain.
• In the Y-Time or XY mode, when one cursor is moved beyond the other cursor, the other cursor is
also moved together after that.
• Only one cursor can be selected at a time.

Moving a cursor using an arrow key

• Press [Alt] + [arrow key] to move a selected cursor.
• The cursor is moved with an arrow key according to the specifications for moving it with the
mouse.

Cursor color
• The color of the selected waveform is used as the cursor color.
• When no waveform is selected, the default cursor color is used.

5.13 AREA EXPANDING FUNCTION

Overview
By pressing in the tool bar, an area to be expanded can be selected.

Operation procedure
The area expanding function is available in the Y-Time and XY display modes.
Use the area expanding function as follows.

1. Start the Graph Window of SERVO GUIDE.

2. Press the button. The area expanding function is enabled.
3. Left-drag the graph domain. A box enclosed with dotted lines will be displayed.
Display a box containing the area you want to expand by left-dragging the graph domain.
(Right-clicking during dragging can deselect the area.)

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4. Move the mouse on a frame of the selected area displayed in step 3. The shape of the mouse pointer
will change, which allows you to change the size of the area.
Use this function to fine-tune the area selection.
In this status, right-clicking or left-clicking a point outside the selected area deselects the area.

5. Move the mouse within the selected area. The shape of the mouse pointer will change to a
magnifying glass. In this status, left-click the area. The selected area is expanded to the full size of
the graph domain.

Notes
If any of the following operations is performed during area selection, the area expanding function is
interrupted and the Graph Window returns to the graph selection mode:
• Press a key for expanding or shrinking a scale ( ).
• Execute auto-scale.
• Open the GraphSetting dialog.
• Perform a keyboard operation.
• Select the graph selection mode ( ).
• Change Basic Graph Mode to other than Y-Time or XY.

5.14 SPINDLE TUNING

Overview
The spindle tuning function supports automatic acquisition of spindle acceleration/deceleration data,
orientation data, and frequency response data listed below by showing a procedure in Wizard form.

[Measurement of acceleration/deceleration performance]

- Speed - Acceleration characteristics
- Speed - Acceleration/deceleration time characteristics
- Speed and motor current

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[Measurement of orientation]
- Orientation time
- Speed and torque command
- Speed and orientation error

[Frequency Response Measurement]

- Frequency Response Measurement

Series and editions of applicable spindle software

Measurement of acceleration/deceleration performance, measurement of orientation
αi series spindle amplifier
9D50/W(23) and subsequent editions (for conventional αiSP, FS16i, and induction motor)
9D53/L(12) and subsequent editions (for conventional αiSP, FS16i, and synchronous motor)
9D70/L(12) and subsequent editions (for conventional αiSP and FS30i)
9D80/H(08) and subsequent editions (for level-up αiSP)
9D90/A(01) and subsequent editions (for level-up αiSP)
9DA0/A(01) and subsequent editions (for 30i-B)
Frequency response measurement
αi series spindle amplifier
9D50/X(24) and subsequent editions (for conventional αiSP, FS16i, and induction motor)
9D53/M(13) and subsequent editions (for conventional αiSP, FS16i, and synchronous motor)
9D70/M(13) and subsequent editions (for conventional αiSP and FS30i)
9D80/I(09) and subsequent editions (for level-up αiSP)
9D90/A(01) and subsequent editions (for level-up αiSP)
9DA0/A(01) and subsequent editions (for 30i-B)

5.14.1 Measurement of Acceleration/Deceleration Performance

The following shows the flow of measurement of acceleration/deceleration performance.

1. Execute menu [Tool] -> [Spindle Tuning] -> [Measurement of Acc./Dec. performance].
At first, caution is shown. Check it.

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CAUTION
1 Be aware that spindle is released from control of CNC temporarily while spindle
tuning function is working.
2 Make sure to set upper limit of motor speed to avoid unexpected spindle
rotation.
3 Be aware that spindle may not rotate at commanded speed if improper gear ratio
data is set.
4 Don't change following PMC signal while spindle tuning function is working.
- Clutch/gear signal CTH1, CTH2
- Speed range switching request signal RSL
- Spindle switching request signal SPSL
5 Emergency stop signal of CNC (*ESP: G8.4) is invalid as in the case of normal
spindle operation.
Make sure that emergency stop is performed by E-stop signal for spindle
(*ESPA-*ESPD) or contact signal of common power supply (PS) before using
spindle tuning function.
6 In case of synchronous spindle motor, please use spindle tuning function after
performing magnetic pole detection.

2. Select a target spindle to measure and press the <Get spindle information> button.

Select a spindle which supports the spindle tuning function.

(If the selected spindle does not support the function, a message is displayed.)

Select a spindle which satisfies the following conditions:

Operating conditions
- Velocity control mode (normal operation mode)
- Activating current shut off (SFR=SRV=0)
- S command cleared (S0 or *SSTP=0)
Parameter conditions
- Spindle HRV control
- The following parameters are set as listed in the table below.

Parameter number Setting

No.4395#7,#6,#3 0,0,1
No.4397#7,#6 0,0
No.4125 to 4126 0
No.4410 to 4415 0

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3. The [Measurement of Acc./Dec. performance] screen appears.

When this function is used for the first time, items other than <Spindle condition check> and
<Close> are disabled.
Select <Spindle condition check> and check the spindle status. (See step 4.)
After checking the spindle status, measurement is enabled. (See step 5.)

4. The [Spindle condition check] screen appears.

Check the spindle setting status (PMC signals and CNC parameters) shown in the [Setting check]
field.
Check item Corresponding CNC parameters/PMC signals
Selected windings RSL, SPSL
Clutch/gear signal CTH1, CTH2
Spindle sensor No.4002#3, #2, #1, #0
(Bits 3, 2, 1, and 0 of No. 4178 when the spindle switch is set to the SUB position)
Gear ratio data No.4056 to No.4059
(No.4216 and No.4217 when the spindle switch is set to the SUB position)
Arbitrary gear ratio No.4171 to No.4174
(Motor sensor) (No.4243 to No.4246 when the spindle switch is set to the SUB position)
Arbitrary gear ratio
No.4500 to No.4503
(Spindle sensor)

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Check the values in the [Rotation speed check] field to see whether the spindle and motor rotate as
specified when the spindle runs. If the spindle and motor do not rotate as specified, improper gear
ratio data may be set. Check the following items again:
- Clutch/gear signal : CTH1,CTH2
- Gear ratio data : No.4056 to No.4059 (No.4216 and No.4217 when the spindle switch is set
to the SUB position)
After you have checked the items, press the <Back> button.

S command :
Set the S command (spindle speed command) within a range between "0 and 100".
Upper limit of motor speed :
Set the upper limit of the motor speed so that the spindle speed does not exceed the allowable
range.
If a motor speed exceeding the setting is detected, the motor activating current is shut off and
measurement is stopped.
Motor speed :
Displays the motor speed in real time.
Spindle speed :
Displays the spindle speed in real time.
SFR/SRV/STOP :
Select forward rotation (SFR), reverse rotation (SRV), or stop (STOP) of the motor.
(You cannot switch between forward rotation and reverse rotation. Be sure to stop the motor,
then select forward or reverse rotation.)
Data weight :
Set the unit to be used for displaying the spindle and motor speeds.
The following table lists the display units and corresponding display ranges. Set an appropriate
weight according to the spindle-motor gear ratio.
Display unit Speed display range (min-1)
×10 -32768 to +32767
×1 -3276.8 to +3276.7
×0.1 -327.68 to +327.67

Back :
Closes the [Spindle condition check] screen and displays the [Measurement of Acc./Dec.
performance] screen again.

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5. In the [Measurement of Acc./Dec. performance] screen displayed again, the disabled items are now
available.
Set each item and press <Start> button.

Output data selection :

Select one of the three items listed in the table below that is to be output from the spindle
amplifier to SERVO GUIDE.
Output data Description
Speed – Acceleration characteristics Displays spindle acceleration (during acceleration/deceleration) at each
speed.
Speed – Acc./Dec. time Displays the acceleration/deceleration time required to reach each speed.
characteristics
Speed & Motor current Displays the spindle speed and motor current.
S command :
Set the S command (spindle speed command).
Upper limit of motor speed :
Set the upper limit of the motor speed so that the spindle speed does not exceed the allowable
speed.
If a motor speed exceeding the setting is detected, the motor activating current is shut off and
measurement is stopped.
Spindle condition check :
Opens the [Spindle condition check] window.
Start :
Starts acquiring waveform data.
Close :
Terminates the spindle tuning function.
Detail :
Switches the display of [Detail Setting].
Data points / Sampling cycle :
Set the number of data points to be measured and sampling cycle.
Set values so that the following condition is satisfied:
Spindle acceleration/deceleration time (msec) > number of data points × sampling cycle + 1000
Normally, set "10000 pts" and "1 msec".
Idle time between acceleration and deceleration :
Set the time from the completion of spindle acceleration to the start of deceleration within a
range between 0 and 100.
Normally, set 0.

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Acceleration detection filter time constant :

Set the filter time constant for detecting acceleration within a range between 0 and 100.
Normally, set 0.
Rotation direction of motor (SFR/SRV) :
Set the rotation direction of the motor with SFR or SRV.
(SFR = clockwise, SRV=counter clockwise)

6. The measurement screen is displayed and data acquisition is started.

7. When the measurement is completed, waveforms are displayed according to the selected output data
in the Graph Window.
Speed – Acceleration characteristics

Speed – Acceleration/deceleration time characteristics

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Speed and Motor current

5.14.2 Measurement of Orientation

The following shows the flow of measurement of orientation.

1. Execute menu [Tool] -> [Spindle Tuning] -> [Measurement of orientation].

At first, caution is shown. Check it.

CAUTION
1 Be aware that spindle is released from control of CNC temporarily while spindle
tuning function is working.
2 Make sure to set upper limit of motor speed to avoid unexpected spindle
rotation.
3 Be aware that spindle may not rotate at commanded speed if improper gear ratio
data is set.

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CAUTION
4 Don't change following PMC signal while spindle tuning function is working.
- Clutch/gear signal CTH1, CTH2
- Speed range switching request signal RSL
- Spindle switching request signal SPSL
5 Emergency stop signal of CNC (*ESP: G8.4) is invalid as in the case of normal
spindle operation.
Make sure that emergency stop is performed by E-stop signal for spindle
(*ESPA-*ESPD) or contact signal of common power supply (PS) before using
spindle tuning function.
6 In case of synchronous spindle motor, please use spindle tuning function after
performing magnetic pole detection.

2. Select a target spindle to measure and press the <Get spindle information> button.

Select a spindle which supports the spindle tuning function.

(If the selected spindle does not support the function, a message is displayed.)

Select a spindle which satisfies the following conditions:

Operating conditions
- Velocity control mode (normal operation mode)
- Activating current shut off (SFR=SRV=0)
- S command cleared (S0 or *SSTP=0)
Parameter conditions
- Spindle HRV control
- The following parameters are set as listed in the table below.

Parameter number Setting

No.4015#0 1
No.4395#7,#6,#3 0,0,1
No.4397#7,#6 0,0
No.4125 to 4126 0
No.4410 to 4415 0

3. The [Measurement of orientation] screen appears.

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When this function is used for the first time, items other than <Spindle condition check> and
<Close> are disabled.
Select <Spindle condition check> and check the spindle status. (See step 4.)
After checking the spindle status, measurement is enabled. (See step 5.)

4. The [Spindle condition check] screen appears.

Check the spindle setting status (PMC signals and CNC parameters) shown in the [Setting check]
field.
Check item Corresponding CNC parameters/PMC signals
Selected windings RSL, SPSL
Clutch/gear signal CTH1, CTH2
Spindle sensor No.4002#3, #2, #1, #0
(Bits 3, 2, 1, and 0 of No. 4178 when the spindle switch is set to the SUB position)
Gear ratio data No.4056 to No.4059
(No.4216 and No.4217 when the spindle switch is set to the SUB position)
Arbitrary gear ratio No.4171 to No.4174
(Motor sensor) (No.4243 to No.4246 when the spindle switch is set to the SUB position)
Arbitrary gear ratio
No.4500 to No.4503
(Spindle sensor)

Check the values in the [Rotation speed check] field to see whether the spindle and motor rotate as
specified when the spindle runs. If the spindle and motor do not rotate as specified, improper gear
ratio data may be set. Check the following items again:
- Clutch/gear signal : CTH1,CTH2
- Gear ratio data : No.4056 to No.4059 (No.4216 and No.4217 when the spindle switch is set
to the SUB position)
After you have checked the items, press the <Back> button.

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S command :
Set the S command (spindle speed command) within a range between “0 and 100”.
Upper limit of motor speed :
Set the upper limit of the motor speed so that the spindle speed does not exceed the allowable
range.
If a motor speed exceeding the setting is detected, the motor activating current is shut off and
measurement is stopped.
Motor speed :
Displays the motor speed in real time.
Spindle speed :
Displays the spindle speed in real time.
SFR/SRV/STOP :
Select forward rotation (SFR), reverse rotation (SRV), or stop (STOP) of the motor.
(You cannot switch between forward rotation and reverse rotation. Be sure to stop the motor,
then select forward or reverse rotation.)
Data weight :
Set the unit to be used for displaying the spindle and motor speeds.
The following table lists the display units and corresponding display ranges. Set an appropriate
weight according to the spindle-motor gear ratio.
Display unit Speed display range (min-1)
×10 -32768 to +32767
×1 -3276.8 to +3276.7
×0.1 -327.68 to +327.67

Back :
Closes the [Spindle condition check] screen and displays the [Measurement of orientation]
screen again.

5. In the [Measurement of orientation] screen displayed again, the disabled items are now available.
Set each item and press <Start> button.

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Output data selection :
Select one of the three items listed in the table below that is to be output from the spindle amplifier
to SERVO GUIDE.
Output data Description
Orientation time Displays spindle speeds and sequences.
Speed, Torque command Displays spindle speeds and torque commands.
Speed, Orientation error Displays spindle speeds and position errors.
S command :
Set the S command (spindle speed command).
Upper limit of motor speed :
Set the upper limit of the motor speed so that the spindle speed does not exceed the allowable
speed.
If a motor speed exceeding the setting is detected, the motor activating current is shut off and
measurement is stopped.
1 rotation signal :
Displays whether the one-rotation signal is detected.
If the result is unknown or the model is not supported (FS18i-LNB), a hyphen (-) is displayed.
Spindle condition check :
Opens the [Spindle condition check] window.
Start :
Starts acquiring waveform data.
Close :
Terminates the spindle tuning function.
Detail :
Switches the display of [Detail Setting].
Data points / Sampling cycle :
Set the number of data points to be measured and sampling cycle.
Set values so that the following condition is satisfied:
Spindle acceleration/deceleration time (msec) > number of data points × sampling cycle + 1000
Normally, set "10000 pts" and "1 msec".
Rotation direction of motor (SFR/SRV) :
Set the rotation direction of the motor with SFR or SRV.
(SFR = clockwise, SRV=counter clockwise)
Incremental command (INCMDx) :
Set whether to use the incremental command.
To use command multiplication, set a required value in parameter No. 4328 and start the
spindle tuning function.
Stop position setting :
Set the stop position (SHx00-SHx11) when the incremental command is used.
The valid setting range is between 1 and 4095 (4096/rev).
Note: This setting item is valid when the incremental command is used.
Times of orientation action :
Set the number of times of orientation within a range between 1 and 10.
Note: This setting item is valid when "Orientation time" is selected for [Output data selection].

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6. The measurement screen is displayed and data acquisition is started.

7. When the measurement is completed, waveforms are displayed according to the selected output data
in the Graph Window.
Orientation time

Speed, Torque command

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Speed, Orientation error

5.14.3 Frequency Response Measurement

The following shows the flow of frequency response measurement.

1. Execute menu [Tool] -> [Spindle Tuning] -> [Frequency Response Measurement].
At first, caution is shown. Check it.

CAUTION
1 Be aware that spindle is released from control of CNC temporarily while spindle
tuning function is working.
2 Make sure to set upper limit of motor speed to avoid unexpected spindle
rotation.
3 Be aware that spindle may not rotate at commanded speed if improper gear ratio
data is set.

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CAUTION
4 Don't change following PMC signal while spindle tuning function is working.
- Clutch/gear signal CTH1, CTH2
- Speed range switching request signal RSL
- Spindle switching request signal SPSL
5 Emergency stop signal of CNC (*ESP: G8.4) is invalid as in the case of normal
spindle operation.
Make sure that emergency stop is performed by E-stop signal for spindle
(*ESPA-*ESPD) or contact signal of common power supply (PS) before using
spindle tuning function.
6 In case of synchronous spindle motor, please use spindle tuning function after
performing magnetic pole detection.

2. Select a target spindle to measure and press the <Get spindle information> button.

Select a spindle which supports the spindle tuning function.

(If the selected spindle does not support the function, a message is displayed.)

Select a spindle which satisfies the following conditions:

Operating conditions
- Velocity control mode (normal operation mode)
- Activating current shut off (SFR=SRV=0)
- S command cleared (S0 or *SSTP=0)
Parameter conditions
- Spindle HRV control
- The following parameters are set as listed in the table below.

Parameter number Setting

No.4395#7,#6,#3 0,0,1
No.4397#7,#6 0,0
No.4125 to 4126 0
No.4410 to 4415 0

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3. The [Frequency Response Measurement] screen appears.

When this function is used for the first time, items other than <Spindle condition check> and
<Close> are disabled.
Select <Spindle condition check> and check the spindle status. (See step 4.)
After checking the spindle status, measurement is enabled. (See step 5.)

4. The [Spindle condition check] screen appears.

Check the spindle setting status (PMC signals and CNC parameters) shown in the [Setting check]
field.
Check item Corresponding CNC parameters/PMC signals
Selected windings RSL, SPSL
Clutch/gear signal CTH1, CTH2

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Check item Corresponding CNC parameters/PMC signals

Spindle sensor No.4002#3, #2, #1, #0
(Bits 3, 2, 1, and 0 of No. 4178 when the spindle switch is set to the SUB position)
Gear ratio data No.4056 to No.4059
(No.4216 and No.4217 when the spindle switch is set to the SUB position)
Arbitrary gear ratio No.4171 to No.4174
(Motor sensor) (No.4243 to No.4246 when the spindle switch is set to the SUB position)
Arbitrary gear ratio
No.4500 to No.4503
(Spindle sensor)
Check the values in the [Rotation speed check] field to see whether the spindle and motor rotate as
specified when the spindle runs. If the spindle and motor do not rotate as specified, improper gear
ratio data may be set. Check the following items again:
- Clutch/gear signal : CTH1,CTH2
- Gear ratio data : No.4056 to No.4059 (No.4216 and No.4217 when the spindle switch is set
to the SUB position)
After you have checked the items, press the <Back> button.

S command :
Set the S command (spindle speed command) within a range between “0 and 100”.
Upper limit of motor speed :
Set the upper limit of the motor speed so that the spindle speed does not exceed the allowable
range.
If a motor speed exceeding the setting is detected, the motor activating current is shut off and
measurement is stopped.
Motor speed :
Displays the motor speed in real time.
Spindle speed :
Displays the spindle speed in real time.
SFR/SRV/STOP :
Select forward rotation (SFR), reverse rotation (SRV), or stop (STOP) of the motor.
(You cannot switch between forward rotation and reverse rotation. Be sure to stop the motor,
then select forward or reverse rotation.)
Data weight :
Set the unit to be used for displaying the spindle and motor speeds.
The following table lists the display units and corresponding display ranges. Set an appropriate
weight according to the spindle-motor gear ratio.
Display unit Speed display range (min-1)
×10 -32768 to +32767
×1 -3276.8 to +3276.7
×0.1 -327.68 to +327.67

Back :
Closes the [Spindle condition check] screen and displays the [Frequency Response
Measurement] screen again.

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5. In the [Frequency Response Measurement] screen displayed again, the disabled items are now
available.
Set each item and press <Start> button.

Upper limit of motor speed :

Set the upper limit of the motor speed so that the spindle speed does not exceed the allowable
speed.
If a motor speed exceeding the setting is detected, the motor activating current is shut off and
measurement is stopped.
Control mode :
Select one of the control modes listed in the table below when the spindle runs.
Control mode
Velocity control mode
Cs contouring control mode
Servo mode
Orientation mode
Spindle synchronous control mode

Measurement start frequency, Measurement end frequency :

Set the measurement start frequency and measurement end frequency.
The range of frequencies that can be measured is between 1 and 3000 Hz.
Measurement frequency interval :
Set the measurement frequency interval.
Number of sinusoidal wave per frequency :
Set the number of sinusoidal waves per measurement frequency.
Amplitude of disturbance torque command :
Set the amplitude of the disturbance torque command.

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Velocity command offset :

Set the spindle speed command (offset speed) during measurement.
You can set a negative value to specify the motor speed command.
Example of setting)
Setting value : 1000 ⇒ Spindle speed command 1000 [min-1]
Setting value : -1000 ⇒ Motor speed command 1000 [min-1]

Spindle condition check :

Opens the [Spindle condition check] window.
Start :
Starts acquiring waveform data.
Close :
Terminates the spindle tuning function.
Detail :
Switches the display of [Detail Setting].

6. The measurement screen is displayed and data acquisition is started.

(The spindle automatically runs.)

7. When the measurement is completed, waveforms are displayed in the Graph Window.

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5.15 SUPPLEMENTARY INFORMATION

5.15.1 Automatic Saving of Measurement Data

Explanation
This function automatically saves measurement data in a folder specified in advance.
Display the following window by selecting [AutoSave Setup(V)] in the [File(F)] menu in the Graph
Window.

Use Auto Save (S) :

Enables automatic saving.
Destination folder (F) :
Specify a folder to which to save an automatically saved file.
The default is My Documents\SERVO GUIDE\AutoSave.
When repeated measurement (see Subsection 5.6.4, "Trigger Setting") is used, subfolders are created
in the save destination folder.
Filename (N) :
Specify a character string to be used as the name of an automatically saved file. The default is auto.
An automatically saved file is automatically created with a name consisting of the specified
character string and an integer 0 or greater.
File type (T) :
Select a file format of an automatically saved file.
You can select the standard format (*.gdt), CSV format (*.csv), or Graph + CSV (both).

NOTE
1 Automatic saving of measurement data is available only for normal
measurement.
2 Automatic saving is not available for frequency response measurement, or
measurement with spindle tuning or Tuning Navigator.

Using this function with repeated measurement

When the repeated measurement function (see Subsection 5.6.4, "Trigger Setting") and automatic saving
function are used together, a waveform file is automatically saved for each measurement.
An integer corresponding to the number of repetitions is added to the file name.
When measurement starts, a subfolder is generated with a name indicating the date and time at the start of
measurement in the folder specified as the save destination folder. A file is automatically saved in the
subfolder when the specified number of repeated measurements are completed.

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Names of automatically generated files

auto$000.gdt
auto$001.gdt
auto$002.gdt
...

Names of automatically generated subfolders and automatically saved files

- When measurement starts at 12:34:56 on October 09, 2009

AutoSave\20091009_123456\0\ auto$000.gdt
AutoSave\20091009_123456\0\ auto$001.gdt
AutoSave\20091009_123456\0\ auto$002.gdt
...
AutoSave\20091009_123456\1000\ auto$1000.gdt
AutoSave\20091009_123456\1000\ auto$1001.gdt
...
AutoSave\20091009_123456\2000\ auto$2000.gdt
AutoSave\20091009_123456\2000\ auto$2001.gdt
...

NOTE
1 Before using this function, confirm that the disk in which to save files has enough
unused space.
The size of a standard waveform file is as follows:
(Size of waveform data) = (number of measurement channels) × (number of
sampling points) × 4 bytes (*.gdt)
(Size of waveform data) = (number of measurement channels) × (number of
sampling points) × 20 to 30 bytes (*.csv)
For four channels and 10000 sampling points, the size of a gdt file is about 160
Kbytes and that of a CSV file is about 1 Mbytes.
2 Continuous use for a long time may make the operation of the PC unstable. It is
advisable to save data being edited by other applications in advance.
It is also advisable to use this function within several hours (3 to 4 hours). To
continuously perform measurement for longer than 4 hours, terminate all of other
applications before starting measurement.
3 If the speed of data communication between the CNC and PC is low, SERVO
GUIDE may not be able to acquire all of data.
Before measurement, fully check that stable measurement is enabled with the
current combination of the CNC system and PC.
4 Understand the above restrictions before using the repeated measurement
function, and carefully use the function.

5.15.2 Measurement Data Value Scaling

Function explanation
Offset value can be added to measurement data for each channel.

In the normal measurement, the initial value (usually it is 0) is timely set by "origin operation" before
measurement, but even if the initial value shifts improperly by some reason, measurement data can be
compensated by using this function.

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Example
When performing polar-coordinates conversion, the initial value at the time of "origin operation" is very
important.

1. A lower figure means the error expansion display of XY path when the initial value of the axis of
rotation shifts about -0.01degrees. It is found that XY path leans in the direction of clockwise.

The error expansion display of XY path

2. Here, add offset value to the measurement data of the axis of rotation. (You can access the following
dialog from Channel Setting dialog.)

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3. As a result of adding offset value, it is found that XY path does not lean in the error expansion
display as follows.

The error expansion display of XY path

5.15.3 Measurement Data Time Shift

Function explanation
Data time of measurement data for each channel can be shifted.

When two or more data items whose update periods differ from each other are measured, time
synchronization of measured data may fail because of the relationship between the sampling period and
internal data update timing, and so forth. Use of this function allows measurement data on individual
channels to be displayed by shifting the data in time.
In addition, in case it shifts in time, extrapolation is performed to the time domain where measurement
data is not exist.
(The dialog box for time shift setting can be opened from the channel setting page.)

The sign of time-shift means as follows.

+ (plus)
Time delay for measurement data
- (minus)
Time lead for measurement data

Setting example
When the data with a certain same axis is measured by three channels, three waveforms overlap to one if
not using time shift function, and if time shift sets up as follows, the waveform shifts by order 1msec on
the basis of the central waveform as follows is displayed.

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5.15.4 Limitation of Measurement

(1) Feedrate which can be measured
Changes within 16000 position detection units per 1ms can be followed up. (This is equivalent to
960m/min for 1μm detection unit, and 96m/min for 0.1μm detection unit)
If the above feedrate is not exceeded, servo positions during the use of ordinary software are all
captured. If the above feedrate is exceeded, however, the position cannot be advanced normally,
which can result in deviation of read coordinates from the actual position.
If the set sampling period is longer than 1 ms (such as 10 ms or 100 ms), the software internally
acquires data at sampling intervals of 1 ms, and the position is advanced every millisecond, so the
feedrate that can be measured mentioned above does not lower.

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(2) Note for using triggered measurement

While waiting for trigger, continuation data transmission as normal measurement can not be carried,
and position data is advanced by the repetition of single communication between PC and CNC.
Because the communication takes about 100ms or longer time, high-speed movement during waiting
for trigger may cause the mistake of position data reading. In such a case, make measurement
settings so that a trigger occurs before the execution of a program that performs a high-speed
movement.

5.15.5 Values Displayed in the Waveform Information Box

This subsection describes the values displayed in the waveform information box and gives notes on them.

Values displayed for AVE and RMS

The average value of data existing between two vertical cursors is displayed.
(AVE: Normal average value, RMS: Root-mean-square value)
When there is no data between cursors, a hyphen "-" is displayed.
When there is no data at cursor positions, the average value is calculated by using existing data only.

(Note)
The graph is drawn by connecting data items with a line.
In a graph with a large data interval, there may be no data on the graph line between cursors.

Values displayed for MAX and MIN

The maximum value and minimum value of data existing between two vertical cursors is displayed.
When there is no data between cursors, a hyphen "-" is displayed.
When there is no data at cursor positions, the maximum and minimum values are calculated by using
existing data only.
(Note)
The graph is drawn by connecting data items with a line.
In a graph with a large data interval, there may be no data on the graph line between cursors.

Values displayed for and

The distance between vertical or horizontal cursor is displayed.
(Note)
The cursor positions are calculated using numbers with a decimal point.
For this reason, there may be difference between viewed and calculated cursor positions. For
example, the cursor position is 1000.9 even when the cursor seems to be at position just 1000.
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Values displayed for Freq, Mag, Gain, and Ph

The frequency, magnitude, gain, and phase at the cursor position are displayed, respectively.
(Note)
The graph is drawn by connecting data items with a line.
There is not always data at the cursor position.
If there is no data at the cursor position, the values of the nearest data to the cursor are
displayed.

5.15.6 Cursor Positions after the Graph Is Expanded or Shrunk

• After the graph is expanded or shrunk, the cursors remain at the positions of the numeric values
displayed on the scale.
For this reason, when the graph is expanded or shrunk, the cursors are also expanded or shrunk.

• Horizontal cursors in the Y-Time mode are expanded or shrunk only when a target waveform is
selected.
When a target waveform is selected, they are expanded or shrunk together with the selected
waveform.
This is because a scale in the Y-Time mode can be set for each waveform.

• If a cursor is to be positioned outside the window after enlargement, it is displayed at the edge of the
graph domain.
When the graph is shrunk, the cursor returned to its original position.

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5.15.7 Initial Status of Cursor-Related Control

This subsection describes the initial status of the cursors and cursor disp. panel.

The initial status at the first start of the Graph Window is different from that for other cases.

Cursors
First start Displayed at the position 1.5 divisions apart from the edge of the graph domain.
Other cases Displayed in the same status as in the last active window.

Cursor disp. panel

First start The check boxes are off.
Other cases Displayed in the same status as in the last active window.

5.15.8 Tolerance Setting of Reference Data for Circular Interpolation

Explanation
For path error display (CONTOUR mode) in the Graph Window, program path data (minute line segment
data) created in the Program Window can be used as reference data. Since in the Program Window, path
data is created with 1-mm line segments, however, a large path error is displayed if the arc radius is small.
To avoid this, you can specify tolerance to limit the path error for circular interpolation (G02, G03
command) to the specified value.

Applicable edition
SERVO GUIDE: Ver. 8.00 or later

Example
1. Assume that a path is obtained by running a test program for a square with rounded corners that is
created in the Program Window. The following figure shows the path error (in the CONTOUR
mode) is displayed using the path as the reference path. Since in the Program Window, path data is
created with 1-mm line segments, a large path error is displayed for circular interpolation (G02, G03
command).

Conventional setting (Line segment length: 1 mm, Error: 25 μm)

Error magnification:
100
(50 μm/div)

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B-65404EN/02 USAGE 5.GRAPH WINDOW
2. Set tolerance for circular interpolation (G02, G03 command). Select [Change G02/G03 tolerance...]
from the [Tool] menu in the Program Window.

Then, an input box for setting the tolerance appears.

The default is 0.001 mm (1 μm). The setting is stored in the registry.

3. After setting the tolerance, press the [Apply] button to create program path data. By this operation,
program path data for circular interpolation (G02, G03 command) is created with minute line
segments that do not exceed the specified tolerance. In this example, the tolerance is set to 0.001 (1
μm).

4. By using the program path data for which tolerance is set as a reference waveform, display the path
error (in the CONTOUR mode) of the path of a square with rounded corners again. You will see that
the path error for circular interpolation (G02, G03 command) does not exceed the specified
tolerance.

Tolerance: 1 μm (line segment length: 0.2 mm)

Error magnification:
100
(50 μm/div)

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6 PROGRAM WINDOW

The Program Window supports the creation of a test program used for tuning.
Programs such as a program for a square with rounded corners can be created easily.
When the Program Window is connected to the CNC, a program created in the Program Window can be
transferred to the CNC for execution.

* The operator must press the cycle start button of the machine.

6.1 OVERVIEW
Starting the Program Window
Press the <Program> button on the Main Bar. The following message then appears:

NOTE
Use the CNC in the MDI mode so that parameters and programs can be read
and written.
On the CNC, display a screen other than the program screen.
(If the CNC is in the background edit state, programs cannot be written.)

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B-65404EN/02 USAGE 6.PROGRAM WINDOW
After confirming the message, press <OK>. Then, the Program Window appears.

Name of each part

The name of each part in the Program Window is explained below.

3
1
2

<1> Program condition setting

<2> Program text: This box is called "Program edit box". You can edit directly the program in the box.
<3> Program path

The program made in program window is transmitted to CNC's main memory for programs. Then the
program is run to call Sub-program from Main-program on MDI memory.

This process is shown to the following.

1. The first process is to set the program conditions and press the <Apply> button.
The test program called "Sub-program" is made.
2. Pressing the [Sub-program transmission], "Sub-program" is transmitted to NC.
3. Pressing the [Main-program transmission], the program whose function is to load the Sub-program is
transmitted to MDI's memory.
4. Pressing the [Cycle start] button, the program starts.
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CNC
SERVO GUIDE

Graph Main memory for Program

Program
Window
Sub-program Program made
Window in SERVO GUIDE
transmission

MDI memory
Sub-program call made by
Main-program SERVO GUIDE automatically
transmission

CNC
SERVO GUIDE

Graph Main memory for Program

Program
Window
Getting data Program made
Window in SERVO GUIDE

MDI memory Execute calling

Sub-program call made by
SERVO GUIDE automatically

Cycle Start

NOTE
1 HPCC, AIHPCC and AINanoHPCC can't be executed by sub-program call like
above in the past. But we revised it in the following CNC software editions. You
can use them as same as other High speed & High precision modes.
(Supported CNC software)
FS16i -MB : B0H1-20 or later, B0HA-01 or later
FS16i -TB : B1H1-20 or later, B1HA-01 or later
FS18i -MB : BDH1-20 or later, BDHA-01 or later
FS18i -TB : BEH1-20 or later, BEHA-01 or later
FS18i -MB5 : BDH5-10 or later
2 When sub-program transmission is done at the time of the FS30i connection, a
sub-program is transmitted to the folder of //CNC_MEM/USER/LIBRARY/.

6.2 MENU
This section explains for the menu contents in program window.

[File]
• Clear and make new file (Ctrl+N)
This function is to clear the current program and to make the new program.
• Load from file (Ctrl+R)
This function is to load the program from file. The supported program format is only text format.
• Load from CNC (Ctrl+T)
This function is to load the program from program memory in CNC.

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• At the time of the Series 16i/18i/21i/20i/0i/0i Mate, Power Mate i connection

You can select the program number in the dialog as following one.

• At the time of the Series 30i/31i/32i/35i, Power Motion i connection

You can select the program name in the dialog as following one.

• Close
This function is to close the program window.
• Reconnection
When you use ONLINE state,
In the case that the communication error occurs for some reason, this command will restore the
communication.
(Example, it is necessary to turn off the CNC at changing some parameters. At the time it is
necessary to use this function.)
• Save (Ctrl+S)
This function is to save the program file without changing the name.
• Save As...
This function is to save the program file with changing the name. The text format is only supported.
• Print (Ctrl+P)
This function is to print the program.
• End of application
This function is to terminate the SERVO GUIDE.

[Edit]
You can edit directly the program in program edit box. You can use the following commands like
ordinary editor.
• Cut (Ctrl+X)

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6.PROGRAM WINDOW USAGE B-65404EN/02

• Copy (Ctrl+C)
• Paste (Ctrl+P)
• Select All (Ctrl+A)
• Search (Ctrl+F)

[Display]
• Tool bar
This function is to switch ON/OFF of tool bar.

[Tool]
• Sub-program transmission (Ctrl+B)
• At the time of the Series 16i/18i/21i/20i/0i/0i Mate, Power Mate i connection
It is transferred to the program memory of CNC in the O number which established the program
made by the program editing box by the <number choice> button.
• At the time of the Series 30i/31i/32i/35i, Power Motion connection
It is transferred to the program memory of CNC by the file name which established the program
made by the program editing box by the <file choice> button. A file will save in the folder of
//CNC_MEM/USER/LIBRARY/.
• Main-program transmission (Ctrl+M)
To run the transmitted Sub-program, [Program to load Sub-program], we call it Main program, is
transmitted to MDI buffer in CNC. After that process, if you press the [Cycle start], you can run the
program.
• Delete program on CNC
This function is to delete the program on CNC's memory. You can select the program you want to
delete in the dialog.

6.3 TOOL BAR

The following tool bar is displayed in the Program Window:

<1><2><3><4> <5> <6><7><8> <9><10> <11>

Tool bar is displayed under the menu. You can operate the various commands used in program window
with pressing the icon by the mouse.

You can decide whether tool bar is displayed or not with pressing the [Tool bar(T)] command button in
[Display] menu.

Number Function
<1> Clear the program and make new program.
<2> Open the program (text format).
<3> Load the program from CNC.
<4> Save the program (text format).
<5> Print the program.
<6> Cut the program code.
<7> Copy the program code.
<8> Paste the program code.
<9> Transmit the Sub-program.
<10> Transmit the Main-program.
<11> Select the target path for operation. In the offline state, nothing is indicated.

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B-65404EN/02 USAGE 6.PROGRAM WINDOW

6.4 USAGE
ON LINE
You can make the test program in the following process.

1. The first is to select the path to use.

* Selectable path is indicated in the case of the on-line system. In the case of the off-line system,
you can't select it.

2. The second is to select the program mode.

You can select the test program as the upper example.

On [Free program] mode, you can write directly the arbitrary program in program edit box.

* There is the following limit in making the programs.

Rigid tapping :
Only Z-axis is supported as tapping axis.
Cs contouring control :
Only C-axis is supported as Cs contouring control. (And only square with 1/4 arc program
is supported. It is not supported by the 18i-LNB.)

3. The third is to select the type of system in use.

* When the Program Window is started in the ON LINE state, it reads parameters and
automatically sets the above item. LN = 18i-LNB

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4. If you use the lathe, it is necessary to set the following item.

* In ON LINE mode, when the program window start up, automatically the parameter will be
loaded and the upper setting will be set.

5. Select the axis to use.

* The axis name of the system being chosen path is indicated in the case of the on-line system. In
the case of the off-line system, the axis name becomes a XYZABC fixation.

6. You can set the other condition.

The program except for the Cs contouring is made by the incremental command. The point of cycle
start become (0, 0).

Item Description
Moving distance Input the moving distance of one way on the back and forth Acc./Dec.
Side segment In the square or the square with 1/4 arc (include Cs), input the side segment length.
In case of the square with 1/4 arc, it is necessary to input the straight length except
for the arc line.
Screw length Input the distance from R point to screw bottom on the rigid tapping mode.
Radius Input the radius of the circle. In case of the square with 1/4 arc (include Cs), input the
radius of corner.
Start-R distance Input the distance from start point to R point in the rigid tapping mode.
Traverse speed Input the traverse speed on servo axis.
Spindle speed Input the spindle speed by the "min-1" unit on the rigid tapping mode.
Spindle revolution M code Input the M code to start spindle revolution in the rigid tapping mode. (Usually M29)
Count Input the repeat count of program. If you want to move round twice, input "2" here.
Start point X coordinate The program only on Cs contouring control is interpolated with polar coordinates.
Then, it is necessary to make the program with absolute coordinate and to input the
X coordinate of the start point.
High precision function Select advanced preview control, AI contour control, and so on. This combo box
shows the usable high speed & high precision functions depending on the options for
CNC side.
High-speed HRV control If you run the program in high-speed HRV3 mode, check this.
enable
N number for trigger In Graph Window, you can set the start trigger of measurement by the N number.
When you set a number here, N number is added in program head.

* The unit of the input numeric values differs depending on the CNC setting (mm or inch).

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B-65404EN/02 USAGE 6.PROGRAM WINDOW
7. Press the <Apply> button.
A program is created as shown below and the figure indicating the path of the program is also
displayed.

8. You can edit directly the program codes in program edit box. Edit it as the need arises. (After editing,
it is necessary to press the <Apply> again.)

9. It is necessary to press the [Sub-program transmission] in [Tool] menu for transmission of this
program. (In the tool bar there is the button that has the same effect.)

10. Next you transmit the Main-program to run this program. Press the [Main-program transmission] in
[Tool] menu. (In the tool bar there is the button that has the same effect.)

11. The preparation to run the program is terminated. Press the [Cycle start] button of machine , run the
program.

NOTE
HPCC, AIHPCC and AINanoHPCC can't be executed by sub-program call in the
past. But we revised it in the following CNC software editions. You can use them
as same as other High speed & High precision modes.
(Supported CNC software)
Series 16i -MB : B0H1-20 or later, B0HA-01 or later
Series 16i -TB : B1H1-20 or later, B1HA-01 or later
Series 18i -MB : BDH1-20 or later, BDHA-01 or later
Series 18i -TB : BEH1-20 or later, BEHA-01 or later
Series 18i -MB5 : BDH5-10 or later

12. You can save the made program as the file. You can print, too.

OFF LINE
Even when the Program Window is not connected to the NC, programs may be created. Create a program
by following steps 1 through 8 described previously.
You can save and print the made program same as the ON LINE state.

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7 TUNING NAVIGATOR

Tuning Navigator supports tuning operations by showing a procedure in Wizard form.

The following tuning operations are supported:

[Servo axis]
• Automatic tuning of velocity loop gain
• Automatic tuning of resonance elimination filters
• Automatic tuning of backlash acceleration (Series30i, 31i, 32i, 35i, 0i -D, Power Motion i -A)
• Automatic tuning of time constant for rapid traverse
• Setting support of high-speed and high-precision function
• Tuning support of unexpected disturbance torque detection function
• Tuning support of Interactive force compensation function
[Spindle axis]
• Automatic tuning of resonance elimination filters

Use the tuning wizard when it is connected to the CNC.

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7.1 OVERVIEW
If you press the <Navigator> button in main bar, you see the following dialog.

Select on item to tune in this menu.

Tuning navigator determine the parameters, getting waveform from CNC automatically. Therefore use it
with connecting CNC. If you use it without CNC connection, you see the following message.

It is necessary to change to MDI mode on NC and to select the display except for program edit display.
(Position display is recommended.)

As Tuning navigator works with Graph window together, Graph window is automatically opened. As
Graph window remember the former settings(channel, mode, etc.), you may see the following message by
any chance. In that case, ignore it by pushing <OK>. (The channel settings are automatically set by
Tuning navigator itself.

The following table shows the items and contents to tune.

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7.TUNING NAVIGATOR USAGE B-65404EN/02

[Servo axis]

Tuning item Description

Initial Gain-Tuning This is the automatic tuning of velocity gain. It determines the gain, moving
the target axis and measuring frequency response. When you've not tune the
gain yet, select this menu first.
Filter-Tuning This is the automatic tuning of HRV filters (Resonance elimination filters). It
determines the optimum filter setting by detecting resonance frequency with
the gain which is determined Initial Gain-Tuning.
Gain-Tuning After application of above filters, this wizard raise the gain more by automatic
tuning.
Backlash Acceleration Tuning This determines the parameters of the automatic backlash acceleration
function. (It is available for Series 30i, 31i, 32i, 35i, 0i-D, and Power Motion
i-A.)
Tuning of time constant for rapid This is the automatic tuning of the time constant for rapid traverse. The time
traverse constant is tuned by measuring the maximum torque while moving the axis.
High speed & High precision The wizard, which makes the tuning for High speed & High precision easy,
Tuning will start. The plural parameters, which are related High speed & High
precision function, can be determined easily by only one slider.
The square with 1/4 arc program is used for the evaluation.
Unexpected disturbance torque This is the tuning of the "observer coefficient" and "dynamic friction
detection compensation" for the unexpected disturbance torque detection function.
Recommended values are automatically calculated by measuring estimated
disturbance torque values during back-and-forth acceleration and
deceleration operations.
IFC gain-tuning This is the tuning of the "compensation gain" and "angle data offset" for the
interactive force compensation function. The parameters related to interactive
force compensation need to be set in advance.
* For the software version corresponding to each individual tuning item, see the function
correspondence table in the appendix.

[Spindle axis]

Tuning item Description

Filter-Tuning This is the automatic tuning of HRV filters (Resonance elimination filters). It
determines the optimum filter setting by detecting resonance frequency.
* For the software version corresponding to each individual tuning item, see the function
correspondence table in the appendix.

NOTE
When tuning tandem axes, note the following points:
- Tuning navigator identifies the combination of position tandem axes based on
parameter No. 8311 that specifies the axis number of the master axis for feed
axis synchronization control.
Before using Tuning navigator, check that this parameter is set properly. If it
is not set properly, Tuning navigator will change the parameters of only one
of the axes or vibrate only one of the axes.
- Filter tuning and velocity gain tuning can be used only for torque tandem axes
or position tandem axes that have successive odd and even numbers set in
parameter No. 1023.
- Automatic tuning is performed based on the result of master axis
measurement. You cannot tune the master axis and slave axis separately.

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7.2 SERVO AXIS TUNING

7.2.1 Initial Gain-Tuning

Tune the velocity gain according to the following procedure:

1. Perform a test operation in which the servo guide vibrates the velocity loop while feeding the axis at
a very slow feedrate.
2. Based on the frequency response observed during the above operation, an ideal frequency response
with no resonance is calculated, and then the up-ratio of the gain, which is automatically calculated
in comparison with this ideal response, is shown.
3. Check the operation by applying the shown velocity gain and override.

Flow of tuning
The following shows the flow of tuning:

1. At first, the explanation of this tuning is shown.

CAUTION
1 Since the procedure involves a program operation, move the axis to a safe
position in advance.
2 Since the motor is vibrated to measure the frequency response of the velocity
loop, be prepared to readily press the emergency stop button.

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2. Select target axis to tune.

In the case of synchronous axes or tandem axes, select the master axis.
If you select the slave axis, the servo guide will automatically switch to the master axis.
This tuning is not available for axes having multiple slave axes.

3. The test program is shown (default: linear feed program of 10 mm (or 0.394 inch in the case of inch
input) at F120 mm/min).
You can change it directly in the Edit-Box. (But don't change to a rapid-traverse program. Use
cutting a program.)
As the O-number 99 is used for this test program as default. If you have same number program,
press <Select> button to change O-number.
(The name of test program on Series 30i/31i/32i/35i, Power Motion i becomes SVG_AUTOTUNE
as fixed name, and it can't be changed.)

→ Series 16i/18i/21i/20i/0i/0i Mate, Power Mate i

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→ Series 30i/31i/32i/35i, Power Motion i

4. Set basic conditions before tuning.

Basically, we recommend you to use "Current control 1/2PI" and "Velocity loop high cycle
management". So you don't have to change it. (If you want not to use them, turn them OFF.)

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5. Set the conditions for measurement of frequency response.

Ordinarily, You don't have to change them all.

If you see too much noise in the high frequency domain your measurement result, change
"Amplitude" larger. On the contrary, if the vibration is too much and some alarms (OVC alarm etc.)
occur, change "Amplitude" smaller.
Set "Change position loop gain" to neglect the position gain effect during the measurement of
frequency response of velocity loop.
Set "Change error limit" to avoid "Excess error alarm" during the measurement.

NOTE
When the machine uses the dual check safety function, uncheck "Change error
limit".

6. Press <Start> button to measure the frequency response.

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When you press <Start> button, the test program is transmitted to CNC first. Wait until the message
"Press START button and execute the program". After that, when you press "Cycle Start" button on
the machine MDI, the machine must be moved and the getting data is started. Wait until the message
"Measurement is completed".

NOTE
1 In the case of synchronous axes or tandem axes, the two axes are vibrated
simultaneously.
2 When you are performing the measurement for the first time, pressing the
<Start> button may cause the measurement to start immediately without waiting
for the trigger while the machine is not moving. In that case, wait until the
message "Measurement is completed" is shown and then press the Start button
on the CNC side to execute the program. After the execution of the program is
completed, perform the measurement again. From the second measurement
onward, there is a wait for the trigger.
If the trigger does not work properly when you press the <Start> button, see the
troubleshooting information in the appendix.

After measurement, the waveform must be shown on Graph Window.

Press [Next>] button.

NOTE
In the case of synchronous axes or tandem axes, the response of the master
axis is displayed.

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7. The up-ratio against the current gain is shown.

The evaluation of the measurement result is executed. And the red line, which indicates the ideal
frequency response without any resonance, is shown like following.

SERVO GUIDE finds the resonance point and determines the up-ratio by comparison of real
response and ideal response.
It is difficult to determine the ideal response if the result is noisy in the high frequency domain. So
SERVO GUIDE limit the frequency domain to evaluate it. It is from 100Hz to 800Hz as default, but
you can change it. (If you change it, press <Recalc> button. The ideal response is evaluated again to
determine the up-ratio of the gain.)

The final setting of the gain can be changed manually by changing edit-box directly.

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NOTE
In the case of synchronous axes or tandem axes, the up-ratio of the gain is
determined based on the response of the master axis and that ratio is applied to
both the master axis and slave axis.

8. We measure the frequency response again to confirm the effect of gain up.
The procedure is same as 6.

A red line is shown that indicates the response observed before the gain change, allowing you to
confirm the effect of the increase in the gain.

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9. The final setting value of parameters is shown.

This function automatically turn on "Cutting/Rapid velocity loop gain switching function".
"Velocity gain" is used for rapid-traverse. And "Velocity gain × Over-ride" is used for cutting. (The
over-ride value is 200% as default.)
If you want to change the shown values, change manually by changing edit-box directly.
To check the frequency response as a result of the change, press the <Back> button to return the
screen display to the previous screen and measure the frequency response.

When the result satisfy you, check [Is it O.K.?] and press <Next>> button.

10. The list of changed parameters is shown in the last.

If you are using Parameter window together, execute [File]->[Reload] in Parameter window to
reflect the changed parameters.
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7.2.2 Automatic Filter-Tuning

Tune the HRV filter that is effective for preventing machine resonation, according to the following
procedure:

1. Perform a test operation in which the servo guide vibrates the velocity loop while feeding the axis at
a very slow feedrate.
2. Based on the frequency response observed during the above operation, an ideal frequency response
with no resonance is calculated. Then, the resonation point is found in comparison with this ideal
response and an optimum filter value is automatically calculated and shown.
3. Check the operation by applying the shown optimum filter value.

Flow of tuning
The following shows the flow of tuning:

1. At first, the explanation of this tuning is shown.

CAUTION
1 Since the procedure involves a program operation, move the axis to a safe
position in advance.
2 Since the motor is vibrated to measure the frequency response of the velocity
loop, be prepared to readily press the emergency stop button.

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2. Select target axis to tune.

In the case of synchronous axes or tandem axes, select the master axis.
If you select the slave axis, the servo guide will automatically switch to the master axis.
This tuning is not available for axes having multiple slave axes.

3. The test program is shown (default: linear feed program of 10 mm (or 0.394 inch in the case of inch
input) at F120 mm/min).
You can change it directly in the Edit-Box. (But don't change to a rapid-traverse program. Use
cutting a program.)
As the O-number 99 is used for this test program as default. If you have same number program,
press <Select> button to change O-number.
(The name of test program on Series 30i/31i/32i/35i, Power Motion i becomes SVG_AUTOTUNE
as fixed name, and it can't be changed.)

→ Series 16i/18i/21i/20i/0i/0i Mate, Power Mate i

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→ Series 30i/31i/32i/35i, Power Motion i

4. Set basic conditions before tuning.

Basically, we recommend you to use "Current control 1/2PI" and "Velocity loop high cycle
management". So you don't have to change it. (If you want not to use them, turn them OFF.)

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5. Set the conditions for measurement of frequency response.

Ordinarily, you don't have to change them all.

If you see too much noise in the high frequency domain your measurement result, change
"Amplitude" larger. On the contrary, if the vibration is too much and some alarms (OVC alarm etc.)
occur, change "Amplitude" smaller.
Set "Change position loop gain" to neglect the position gain effect during the measurement of
frequency response of velocity loop.
Set "Change error limit" to avoid "Excess error alarm" during the measurement.

NOTE
When the machine uses the dual check safety function, uncheck "Change error
limit".

6. Press <Start> button to measure the frequency response.

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When you press <Start> button, the test program is transmitted to CNC first. Wait until the message
"Press START button and execute the program". After that, when you press <Cycle Start> button on
the machine MDI, the machine must be moved and the getting data is started. Wait until the message
"Measurement is completed".

NOTE
1 In the case of synchronous axes or tandem axes, the two axes are vibrated
simultaneously.
2 When you are performing the measurement for the first time, pressing the
<Start> button may cause the measurement to start immediately without waiting
for the trigger while the machine is not moving. In that case, wait until the
message "Measurement is completed" is shown and then press the Start button
on the CNC side to execute the program. After the execution of the program is
completed, perform the measurement again. From the second measurement
onward, there is a wait for the trigger.
If the trigger does not work properly when you press the <Start> button, see the
troubleshooting information in the appendix.

After measurement, the waveform must be shown on Graph Window.

Press <Next>> button.

NOTE
In the case of synchronous axes or tandem axes, the response of the master
axis is displayed.

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7. The coefficients for filters are calculated.

The evaluation of the measurement result is executed. And the red line, which indicates the ideal
frequency response, is shown like following.

SERVO GUIDE finds the resonance point and optimum filters by comparison of real response and
ideal response.
It is difficult to determine the ideal response if the result is noisy in the high frequency domain. So
SERVO GUIDE limit the frequency domain to evaluate it. It is from 100Hz to 800Hz as default, but
you can change it. (If you change it, press <Recalc> button. The calculation is executed again.)

An optimum filter value can also be changed manually by pressing the corresponding button from
<Filter1> to <Filter4>.

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8. We measure the frequency response again to confirm the effect of filters.
The procedure is same as 6.

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9. After the frequency response result measured after the application of the filters is checked, the filters
can be fine-tuned manually.

When changing a filter parameter, press the corresponding button <Filter1> to <Filter4>. After
changing the coefficients, press [< Back] button and execute the measurement again.

When the result satisfy you, check [Is it O.K.?] and press <Next>> button.

10. The list of changed parameters is shown in the last.

If you are using Parameter window together, execute [File] → [Reload] in Parameter window to
reflect the changed parameters.

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7.2.3 Gain-Tuning
Difference between two Gain tunings
There are two types of Gain tunings. One is "Initial Gain-Tuning" and the other is "Gain-Tuning".

In "Initial Gain-Tuning", the velocity gain is determined with large margin against the limit of vibration
level. When you use this tuning, the gain become a little larger than initial state, and the resonance of the
machine becomes more clear.

Next, we reject the resonance by Filter-Tuning.

"Gain-Tuning" is used for final determination without any resonance. This function realizes the high gain
by cutting the gain margin.

The procedure of "Gain-Tuning" is exactly same as "Initial Gain-Tuning". Refer to Subsection 7.2,
“Initial Gain-Tuning”.

7.2.4 Backlash Acceleration Tuning

Perform automatic backlash acceleration tuning, which increases the accuracy for the reverse movement
of the feed axis, according to the following procedure:

1. Learning of quadrant protrusion compensation

Execute a circle program with a 10-mm radius several times to let the function learn the optimum
compensation.
2. When the quadrant protrusion becomes sufficiently small through the learning process, the servo
guide recognizes the shape of the optimum compensation.
3. To ensure that optimum compensation is achieved even if the feedrate is changed, perform steps 1
and 2 at three different feedrates (F3000 mm/min, F1500 mm/min, and F300 mm/min).
4. Display of the automatic backlash acceleration tuning parameters
Based on the obtained waveforms, the parameters of the automatic backlash acceleration tuning
function are displayed.
5. Confirmation of the result
Check the operation by applying the displayed parameters.

NOTE
To use improved compensation, use the servo software of 90D0/16 or later or
90E0/16 or later.
(Previous) (Improved)
Acceleration amount

Accelration amount
Acceleration

Acceleration

Attenuation
Attenuation

T0
Time T2 Time
T1 T2 Tz T1

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Flow of tuning
The following shows the flow of tuning:

1. Before the tuning, perform the tuning of the velocity loop (gain and filter tuning) thoroughly.
2. At first, the explanation of this tuning is shown.

CAUTION
1 Since the procedure involves a program operation, move the axis to a safe
position in advance.
2 Be prepared to readily press the emergency stop button in case of an abnormal
operation.

3. Select target axis to tune. The target axis is the one you select in Axis selection 1.
If you want to tune two axes, wait until the tuning of one axis is completed, and then perform tuning
with the other axis selected.
In the case of synchronous axes or tandem axes, select the master axis.
If you select the slave axis, the servo guide will automatically switch to the master axis.
This tuning is not available for synchronous axes having multiple slave axes.
Use the servo software of 90D0/15 or later or 90E0/15 or later. (Tuning of synchronous and tandem
axes is supported.)

NOTE
When you have selected rotary axes, perform tuning by specifying a sine wave
shaped position command for one axis and a sine wave whose phase is 90
degrees different for the other axis. (As the tuning program, a minute line
segment program is automatically generated.)

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If you select an axis and press <Next>>, the parameters that may be changed in the subsequent
tuning are backed up in the file shown below.
If the tuning ends abnormally before it is completed, see the backup file and restore the parameters
to their previous settings.
Backup file: My Documents\SERVO GUIDE\SVGBLA.DAT
(The folder to store the backup file is created automatically. You cannot change the name of the
backup file.)

4. Three test programs (10-mm-raidus circle programs), each with a different feedrate, are displayed.
You can change it directly in the Edit-Box. (Do not change the circle radius (R10 [mm]) and
feedrates (F3000, F1500, and F300 [mm/min]).)
The name of test program becomes SVG_AUTOTUNE as fixed name, and it can't be changed.
(When Series 0i-D is used, as the O-number 99 is used for this test program as default. If you have
same number program, press <Select> button to change O-number.)

→ Series 0i-D

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→ Series 30i/31i/32i/35i, Power Motion i

NOTE
If you select rotary axes, a minute line segment program is automatically
generated as the tuning program.
Note the following points:
- An environment is necessary in which the minute line segment program can
be executed normally. Specifically, AI contour control (or AI advanced
preview control) is required. (The program cannot be executed with normal
control or advanced preview control.)
- The 30i series requires the AI contour control 1 or 2 option.
- In the case of 0i-D, the program can be used only with the M series (AI
advanced preview control or AI contour control option).
- The program cannot be used with 0i-D (T series).
- Inch input is not supported. Inch machines are not supported, either.
- An incremental command-based program is generated for an axis that
supports incremental commands.
- In the case of an axis that does not support incremental commands (axes A
and B of G code system A of the T series), a program is generated using
absolute commands with the start point being the location where the axis is at
the time of program generation.

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6. Set the parameters in advance that are necessary for the tuning.

• Feed forward enable (required)

• Use default FF timing value (required)
• Feed forward coefficient: 100% (recommended)
• Position gain: 3000 or so
Since an excessively large gain prevents the learning process from ending, set a small value
temporarily.
• Allowable acceleration
Set a small value so that no shock is caused when movement starts.
Note that this value must be larger than the acceleration specified in the test program (250
mm/sec/sec).

7. Set the parameters for learning control.

Normally, you do not need to change the default values. However, if the machine has a large axis
distortion that requires dual position feedback, set the value of Gx max order to 20 to 40.

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8. Main window for tuning

Select Program select ->Learning (Initial trial) ->Measurement -> Calculate to measure the optimum
quadrant protrusion compensation by feedrate.
Program select
Change the feedrate for the circle. Changing the feedrate clears the existing learning settings.
Learn & Measure (l)
If you press the<Learn & Measure (l)> button with the Initial trial box checked, the function
executes the circle program five to ten times to learn the optimum compensation.

Then, display and check the measurement results as a circle, and repeat the measurement until the
quadrant protrusion is sufficiently small.

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Calculate(2)
The quadrant protrusion compensation is calculated from the measurement results. You cannot
have the compensation calculated immediately after the initial measurement.

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Modify(3)
The waveform of the quadrant protrusion is displayed. You can edit the compensation
calculation results manually.

9. Description of the parameter confirmation window

The parameters for backlash acceleration tuning are displayed.

If you press the <Change> button in the parameter confirmation window, the Override format setting
dialog box is displayed.
You can change the acceleration override format and damping override format.

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• Select acceleration standard

Linear acceleration
The acceleration override is calculated using the acceleration standard.
Square root of the acceleration
The acceleration override is calculated using the square root of the acceleration
(improvement).
• Select acceleration override format
Double resolution (4096base) / Resolution priority
Priority is placed on the acceleration resolution. The maximum acceleration is limited.
Standard setting (2048base)
Default weight
8 times acceleration range (256base) / Range priority
The maximum acceleration will be larger. But the resolution will be worse. When the
target machine has the high acceleration specification, please select this.
Improvement setting (16484base) / New standard
Setting not based on the detection unit (improvement)
• Select damping override format.
Standard setting
Default weight
64 times resolution
The resolution of the damping override format is changed.

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10. Description of the parameter confirmation window (2)

The parameters for directional compensation are displayed.

11. Result verification window

The status of the circle can be measured using the finally selected parameters. (Backlash acceleration
tuning is performed only for the axis selected in Axis selection 1.)

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After you verify the waveform of the circle, check [Is it O.K.?] and press the <Next>> button.

12. The changed parameters are listed.

If you have the Parameter Window open and want to get the changed parameters reflected on it,
select [File] -> [Reload] in the Parameter Window.

7.2.5 Tuning of Time Constant for Rapid Traverse

Determine the time constant for rapid traverse according to the following procedure:

1. Perform a test operation in which the axis is moved back and forth in rapid traverse using a
relatively large time constant.
2. Based on the size of the torque command required for the above operation, the servo guide
automatically calculates and shows the time constant to be used when acceleration and deceleration
is performed using 90% of the maximum torque.
3. Check the operation by applying the shown time constant.

Flow of tuning
The following shows the flow of tuning:

1. At first, the explanation of this tuning is shown.

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CAUTION
1 Since the procedure involves a program operation, move the axis to a safe
position in advance.
2 The default program moves the axis by 500 mm in the negative direction. If this
is problematic in terms of the machine stroke, modify the program.
3 Be prepared to readily press the emergency stop button in case of an abnormal
operation.
Carry out the measurement with 100% rapid traverse override.
4 Time constant tuning is not supported when AI contour control is used together
with acceleration and deceleration before interpolation for rapid traverse. (FS16i)

2. Select target axis to tune.

In the case of synchronous axes or tandem axes, select the master axis.
If you select the slave axis, the servo guide will automatically switch to the master axis.
The following axes are not supported:
• Axes having multiple slave axes
• Axes for which the optimum torque acceleration and deceleration function is enabled

3. The test program (which moves the axis by 500 mm in the negative direction and 500 mm in the
positive direction in rapid traverse) is shown.
You can change it directly in the Edit-Box. (Make sure that the test program meets the conditions
described below.)
[Test program conditions]
• The rapid traverse commands for the back-and-forth operation, N1 and N999, must be written
at the beginning of the line. The line containing N1 must precede that containing N999.
• Between the N1 and N999 lines, there may be only one line containing the dwell command.
• The feed commands written on the N1 and N999 lines must specify the same travel distance.
• The feed commands written on the N1 and N999 lines must not cause overtravel.
(If the axis enters the overtravel prohibited area 1, the servo guide displays a warning.)
• The default program is shown below.

G91G94
N1G00X-500.00
G04X1.
N999G00X500.00
M99

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The default program is created based on incremental commands.
You can change to absolute commands. In that case, also, make sure that the N1 and N999 lines
specify the same travel distance.

As the O-number 99 is used for this test program as default. If you have same number program,
press <Select> button to change O-number.
(The name of test program on Series 30i/31i/32i/35i, Power Motion i becomes SVG_AUTOTUNE
as fixed name, and it can't be changed.)

→ Series 16i/18i/21i/20i/0i/0i Mate, Power Mate i

→ Series 30i/31i/32i/35i, Power Motion i

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4. Set basic conditions before tuning.

Placing the cursor over one of the check boxes displays a tool hint that helps you understand the
corresponding item.

5. Here, set the conditions for measuring the torque command.

Normally, you do not need to change the default values.

By default, 300 is set in "Linear type time constant for rapid traverse" and 96 is set in "Bell type
time constant for rapid traverse".
If acceleration and deceleration before interpolation for rapid traverse is enabled when AI contour
control is always on for Series 30i, 31i, or 32i, "Linear type time constant for rapid traverse" changes
to "Acc./Dec. before interpolation for rapid traverse" and the tuning unit changes to that for
acceleration.

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→ When acceleration and deceleration before interpolation for rapid traverse is enabled when AI
contour control is always on for Series 30i, 31i, or 32i

6. Measure the torque command by pressing the <Start> button.

Pressing the <Start> button transfers the test program to the CNC.
Wait until the message "Press START button and execute the program" appears.
Then, if you press the "Cycle Start" button on the machine MDI, the acquisition of data starts as the
machine moves. Wait until the message "Measurement is completed" appears.

NOTE
When you are performing the measurement for the first time, pressing the
<Start> button may cause the measurement to start immediately without waiting
for the trigger while the machine is not moving. In that case, wait until the
message "Measurement is completed" is shown and then press the Start button
on the CNC side to execute the program. After the execution of the program is
completed, perform the measurement again. From the second measurement
onward, there is a wait for the trigger.
If the trigger does not work properly when you press the <Start> button, see the
troubleshooting information in the appendix.

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When the measurement is completed, the waveform is displayed on the Graph Window.

Press the <Next>> button

7. The recommended parameter values are displayed.

Based on the size of the torque command required for the back-and-forth rapid traverse operation,
the recommended values are automatically calculated as the time constants to be used when
acceleration and deceleration is performed using 90% of the maximum torque.
To change the displayed recommended values, edit them directly in their respective edit boxes.
To check the changed torque command, return to the previous window by selecting <<Back> button
and perform the measurement.

NOTE
In the case of synchronous axes or tandem axes, the time constants are applied
to the master axis and slave axis.

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8. The changed parameters are listed.

If you have the Parameter Window open and want to get the changed parameters reflected on it,
select [File] -> [Reload] in the Parameter Window.

7.2.6 High-speed and High-precision Tuning

Perform high-speed and high-precision tuning according to the following procedure:

1. Set the parameters related to the high-speed and high-precision function (automatic acceleration and
deceleration) and perform a test operation for a square with 1/4 arc.
2. Check the waveform resulting from the above operation. If further tuning is necessary, change the
parameters and repeat the test operation.
3. When the desired precision is obtained, the finally changed parameters are shown.

Flow of tuning
The following shows the flow of tuning:

1. At first, the explanation of this tuning is shown.

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NOTE
Since the procedure involves a program operation, move the axis to a safe
position in advance.

2. Select target axes to tune.

In the case of synchronous axes or tandem axes, select the master axis.
If you select the slave axis, the servo guide will automatically switch to the master axis.
This tuning is not available for axes having multiple slave axes.

3. The test program, which is the 30mm (1.181inch in case that input unit is inch) square with R5
(R0.197inch in case that input unit is inch) 1/4arc, is shown.
You can change only speed and High precision mode only here.
As the O-number 99 is used for this test program as default. if you have same number program, press
<Select> button to change O-number.
(The name of test program on Series 30i/31i/32i/35i, Power Motion i becomes SVG_AUTOTUNE
as fixed name, and it can't be changed.)

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→ Series 16i/18i/21i/20i/0i/0i Mate, Power Mate i

→ Series 30i/31i/32i/35i, Power Motion i

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4. Parameter tuning screen is shown.

→ Case of mm system

→ Case of inch system

Initially the parameter values, which are read from CNC, are shown in the white edit-boxes.
You can edit the value directly. And when you press [Use slider], you can change all parameter
together only by one slider moving. The gray boxes, which are located both side of white edit boxes,
shows the recommended parameter sets. The left side parameter set is for the priority to speed. The
right side parameter set is for the priority to precision. The values, which FANUC recommends, are
shown initially in the boxes as default. You can easily set the interpolated value from both sides by
this system.

In this screen, when you press <Next>> button, the parameters to change are transmitted to CNC.

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NOTE
In the case of synchronous axes or tandem axes, the parameters to be changed
are applied to the master axis and slave axis.

This is the explanation of other buttons on this screen.

Button Explanation
Return to initial parameter It returns the parameter settings to the initial value.
(Both PC-side and CNC-side)
Change recommended value The parameter sets for speed priority and precision priority can be changed. If you
change them, the values are remembered by Registry data base. They are always
used after that.
Reset recommended value It returns the value of recommended parameter sets to initial FANUC
recommended one.
The check box left-side of each Turn off the check box, if you want the parameter.
functions The check box may be automatically OFF according to your option configuration.

5. Press <Start> button to start the test program.

When you press <Start> button, the test program is transmitted to CNC first. Wait until the message
"Press START button and execute the program". After that, when you press "Cycle Start" button on
the machine MDI, the machine must be moved and the getting data is started. Wait until the message
"Measurement is completed".

NOTE
When you are performing the measurement for the first time, pressing the
<Start> button may cause the measurement to start immediately without waiting
for the trigger while the machine is not moving. In that case, wait until the
message "Measurement is completed" is shown and then press the Start button
on the CNC side to execute the program. After the execution of the program is
completed, perform the measurement again. From the second measurement
onward, there is a wait for the trigger.
If the trigger does not work properly when you press the <Start> button, see the
troubleshooting information in the appendix.

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Following waveform is shown in Graph window after finish of measurement.

* When you press <1>-<4> buttons on the High speed and High precision tuning screen, the
expansion of the part, which is circle to straight line, is shown. You can evaluate your setting
by this draw.

NOTE
Graph Window shows the diagram in mm unit even in case of inch system.

If you can't satisfy the result, press <<back> button and change parameters again.
When the result satisfies you, check [Is it O.K.?] and press <Next>> button.

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6. The list of changed parameters is shown in the last.

If you are using Parameter window together, execute [File] → [Reload] in Parameter window to
reflect the changed parameters.

7.2.7 Unexpected Disturbance Torque Detection

Determine the parameters of the unexpected disturbance torque detection function according to the
following procedure:

1. Select the axis to tune.

2. Measure the torque command by moving the axis back and forth at low speed, and determine the
torque offset.
3. Measure the velocity and torque command by performing the back-and-forth operation with 50%
rapid traverse override. The observer gain (POA1), dynamic friction compensation coefficient, and
dynamic friction compensation in the stopped state are automatically calculated.
4. Apply the automatically calculated observer gain (POA1) to check the estimated disturbance
waveform. In this process, you can tune the observer gain (POA1) manually.
5. Apply the automatically calculated dynamic friction compensation parameter to check the estimated
disturbance waveform.
6. Last, measure the estimated disturbance waveform by performing the back-and-forth operation with
100% rapid traverse override. The recommended value of the unexpected disturbance torque
detection alarm level is automatically calculated.

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Flow of tuning
The following shows the flow of tuning:

1. First, the description and notes are displayed. Read them.

CAUTION
1 Since the procedure involves a program operation, move the axis to a safe
position in advance.
2 The default program moves the axis by 500 mm in the negative direction. If this
is problematic in terms of the machine stroke, modify the program.
3 Be prepared to readily press the emergency stop button in case of an abnormal
operation.
4 When performing the measurement, use the cutting feed or rapid traverse
override value specified in the relevant measurement window. If no value is
specified, set 100%.

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2. Select target axis to tune.

3. Next, set the basic parameters.

In this window, you can change the following parameters:

• Observer gain (POK1, POK2) (*1)
• Influence of control voltage saturation is eliminated
*1) If you enter the cut-off frequency and damping factor, POK1 and POK2 are calculated.

4. The back-and-forth acceleration and deceleration program (cutting feed) is created. Check this
program.
You can change it directly in the Edit-Box. (As the move command, only an incremental command
can be specified; an absolute command cannot be used. The N1 and N999 lines must specify the
same travel distance.)
As the O-number 99 is used for this test program as default. If you have same number program,
press <Select> button to change O-number.

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(The name of test program on Series 30i/31i/32i/35i, Power Motion i becomes SVG_AUTOTUNE
as fixed name, and it can't be changed.)

* Hereinafter, the program created with this window is called program <1>.

Contents of program <1>

Feed command : G01 (cutting feed)
Stroke : 25 (mm)
Speed : 500 (mm/min)

5. Measure the estimated disturbance torque value. Press the <Start> button.

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Here, execute the program to obtain the estimated disturbance torque value and motor speed.

Estimated disturbance

Motor speed

6. The recommended value of the torque offset is automatically calculated.

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7. The back-and-forth acceleration and deceleration program (rapid traverse) is created. Check this
program.

* Hereinafter, the program created with this window is called program <2>.

Contents of program <2>

Feed command : G00 (rapid traverse)
Stroke : 500 (mm)
Speed : Speed set by the parameter

If this is problematic in terms of the machine stroke, modify the program.

The notes on the program and the file format are the same as program <1>.

8. Measure the torque command and motor speed.

Set the rapid traverse override to 50%, and press the <Start> button.

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Here, execute program <2> five times to obtain the torque command and motor speed.

9. The recommended values of the observer coefficient and dynamic friction compensation parameters
are automatically calculated.

Check the recommended values, and press <Next>>.

(You can fine-tune the recommended values in the subsequent windows.)

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10. Measure the effect of the recommended parameter (observer coefficient only).
First, measure only the effect of the observer coefficient.
Set the rapid traverse override to 100%, and press the <Start> button.

Here, execute program <2> once to obtain the estimated disturbance torque value and motor speed.

Estimated disturbance

Motor speed

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11. You can fine-tune the observer coefficient manually by monitoring the estimated disturbance torque
value after applying the observer coefficient. (You have also calculated the estimated value of the
dynamic friction compensation in the previous window. But, fine-tune only the observer coefficient
first.)

If you obtain a satisfactory waveform, press the <Next>> button.

To check the estimated disturbance torque value after the change, press the <<Back> button and
perform the measurement with the Check of observer parameter window.
The dynamic friction compensation limit value is automatically calculated from the estimated
disturbance torque value of the waveform displayed in the Graph Window.

12. Measure the effect of the recommended parameters (observer coefficient and dynamic friction
compensation parameters).
Here, there is no restriction concerning the rapid traverse override.
Set a desired rapid traverse override, and press the <Start> button.

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Here, execute program <2> once to obtain the estimated disturbance torque value and motor speed.

Estimated disturbance

Motor speed.

13. You can fine-tune the parameters manually based on the estimated disturbance torque value
observed after the observer coefficient and dynamic friction compensation parameters are applied.

If you obtain a satisfactory waveform, press the <Next>> button.

To measure the effect of the fine-tuning, press the <<Back> button and perform the measurement
with the Check of dynamic friction compensation window.

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14. The recommended value of the unexpected disturbance torque detection alarm level is displayed.

* Before using the setting in the actual operation, check that it does not cause any malfunction,
regardless of the operating environment and conditions.

Check the value and press the <Next>> button.

15. The changed parameters are listed.

If you have the Parameter Window open, you can get the changed parameters reflected on it.
To do so, select [File] -> [Reload] in the Parameter Window.

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7.2.8 IFC Gain-Tuning

This function lets you tune the angle data offset and compensation gain for the interactive force
compensation function.
The parameters related to the axis setting to which interactive force compensation is to be applied need to
be set in advance.

Parameters to be set in advance

Interactive force calculation enable Parameter No.2292#6, No.2293#6
Compensation type Parameter No.2292#1,#0, No.2293#1,#0
Servo axis number of moving axis Parameter No.2292#5,#4,#3, No.2293#5,#4,#3
To be set with No. 2606 in the case of the 30i-B series and Power Motion i-A.
Moving axis specification Parameter No.2292#7
Feed forward enable Parameter No.2005#1
Parameters to be tuned with this function
Compensation gain Parameter No.2478, No.2480
Angle data offset Parameter No.2479, No.2481
Interactive force compensation Parameter No.2292#2, No.2293#2
enable

Determine the interactive force compensation parameters according to the following procedure:

1. Select the compensated axis (the one to receive the interactive force) and the moving axis (the one to
give the interactive force).
2. Move the rotary axis to the point of origin through jog feed.
3. Have the angle offset set automatically.
4. Move the moving axis back and forth, and the compensated value of the interactive force
compensation gain is automatically calculated. (At this point of time, interactive force compensation
is disabled.)
5. Enable interactive force compensation using the shown interactive force compensation gain and
check the operation.

Flow of tuning
The following shows the flow of tuning:

1. First, the description and notes are displayed. Read them.

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CAUTION
1 Since the procedure involves a program operation, move the axis to a safe
position in advance.
2 Specify a sufficiently low speed for an ill-balanced rotary axis.
3 Be prepared to readily press the emergency stop button in case of an abnormal
operation.
4 When performing the measurement, enable feed forward.

This wizard lets you tune the angle data offset and compensation gain parameters of the interactive
force compensation function.
The parameters related to the axis setting to which the interactive force compensation function is to
be applied need to be set properly in advance.

The parameters can be tuned only for one pair of a moving axis and a compensated axis in one
tuning process. Perform tuning multiple times in the following cases:
• Compensating the interactive force from multiple moving axes
• Changing the axis relationship and compensating the interactive force from each of the axes

2. Select target axis to tune.

Once you select a compensated axis, you can select a moving axis.

In the case of synchronous axes or tandem axes, select the master axis.
If you select the slave axis, the servo guide will automatically select the master axis.
This tuning is not available for axes having multiple slave axes.
The combination of synchronous axes for the feed axis synchronization control is judged from
parameter No. 8311 specifying the axis number of the master axis.
Before using Tuning navigator, check that this parameter is set correctly.
If the parameter is not set correctly, the parameters will be changed only for one axis.

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3. Set the point of origin.

The axis for which the point of origin is to be set may be either the compensated axis or moving axis
depending on the compensation type of interactive force compensation.
Move the target axis to the point of origin.

If it is impossible to move the target axis to the point of origin, set the offset of the eccentric load
from the point of origin.
If the target axis is moved to the point of origin, the offset is 0.
If it is impossible due to the machine structure or for some other reason to move the target axis to the
point of origin, set the offset of the eccentric load from the point of origin.

[Remark]
On the left side of the window, a figure depicting the compensation relationship is displayed.
Depending on the relationship of the selected axis, one of the following figures is displayed:
Linear axis↔Rotary axis Rotary axis↔Rotary axis

You can display the other figure by pressing the window switch button .

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4. When the recommended parameter of the angle data offset is displayed, check it.

The recommended parameter is calculated from the offset and axis position that are set in the
previous window.
In the case of synchronous axes or tandem axes, discrete offset values are set for the master axis and
slave axis, respectively.
If you return to the previous window, the recommended parameter will be recalculated. In that case,
check the offset again.

5. Set the conditions for generating the back-and-forth acceleration and deceleration program.

6. When the program is generated according to the conditions, check the generated program.
You can change it directly in the Edit-Box.

NOTE
When editing the program, note the following points:
- As the move command, only an absolute command can be specified. An
incremental command cannot be used.
- The number of data points to be used for the measurement is calculated from
the program conditions. When changing the travel distance, make sure that it
is shorter than in the generated program.

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The name of test program becomes SVG_AUTOTUNE as fixed name, and it can't be changed.

7. Measure the compensation data. Press the <Start> button.

If you check the "Measure in the same polarity of TCMD and IFCMP" check box, the polarity of
TCMD (Draw3) will be the same as that of IFCMP (Draw4).

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8. The recommended value of the compensation gain is automatically calculated.

The recommended value is calculated with respect to the time axis range displayed in the Graph
Window.
To change the calculation target range, change the scale in the Graph Window and press the
<Recalc> button.

9. Measure the position feedback after the compensation gain is applied.

In the case of synchronous axes or tandem axes, the same interactive force compensation gain is set
for the master axis and slave axis.

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If you check the “Measure in the same polarity of TCMD and IFCMP” check box, the polarity of
TCMD (Draw3) will be the same as that of IFCMP (Draw4).

10. You can fine-tune the compensation gain manually based on the position feedback result after the
compensation gain is applied.

If you obtain a satisfactory waveform, check [Is it O.K.?] and press the <Next>> button.
You can also change the angle data offset (parameter No. 2479 or No. 2481) if necessary.

Separate tuning is necessary in the following cases:

• Compensating the interactive force from another moving axis
• Changing the axis relationship and compensating the interactive force in the opposite direction

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11. The changed parameters are listed.

If you have the Parameter Window open, you can get the changed parameters reflected on it.
To do so, select [File] -> [Reload] in the Parameter Window.

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7.3 SPINDLE AXIS TUNING

7.3.1 Filter-Tuning
Tune the HRV filter according to the following procedure:

1. Perform a test operation in which the velocity loop is vibrated in velocity control mode.
2. Based on the frequency response observed during the above operation, an ideal frequency response
with no resonance is calculated. Then, the resonation point is found in comparison with this ideal
response and an optimum filter value is automatically calculated and shown.
3. Check the operation by applying the shown optimum filter value.

Flow of tuning
The following shows the flow of tuning:

1. First, the description and notes are displayed. Read them.

CAUTION
1 Be aware that spindle is released from control of CNC while filter tuning.
2 Make sure to set upper limit of motor speed to avoid unexpected spindle
rotation.
3 Be aware that spindle may not rotate at commanded if improper gear ratio data
is set.
4 Don't change following PMC signal while filter tuning.
- Clutch/gear signal CTH1, CTH2
- Speed range switching request signal RSL
- Spindle switching request signal SPSL
5 Emergency stop signal of CNC (*ESP:G8.4) is invalid like the time of normal
spindle operation.
Make sure that emergency stop is performed by E-stop signal for spindle
(*ESPA - *ESPD) or contact signal of common power supply (PS) before using
filter tuning.
6 In case of synchronous spindle motor, please use filter tuning after magnetic
pole detection is completed.

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2. Select the spindle for tuning.

3. Select the control mode for frequency response measurement.

4. Set the conditions for frequency response measurement.

When this window is initially displayed, the <Next>> button is grayed out.
When you enter the upper limit of motor speed, the <Next>> button becomes available.

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5. Measure the frequency response. Press the <Start> button.

If you press the <Start> button, the measurement conditions are transmitted to the spindle, which in
turn starts to operate automatically.
Wait until the message “Measurement is completed” appears.
For information about the control modes and measurement conditions, see Section 5.14, “SPINDLE
TUNING”.

When the measurement is completed, the waveform is displayed on the Graph Window.

Press the <Next>>.

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6. The filter coefficients are automatically calculated.

The frequency response is evaluated and calculated at the same time this page appears, a straight line
(red line) is displayed that indicates the ideal frequency response, as shown below.

The resonation point is found in comparison with this ideal response and an optimum filter value is
determined.
If there is significant waveform disturbance in the high frequency range, it is difficult to determine
an ideal response. For this reason, the frequency range to be evaluated is limited.
The default frequency range is 100 Hz to 800 Hz and can be changed.
(If you change this range, press the <Recalc> button. An ideal response is evaluated and an optimum
filter value is determined again.)

The optimum filter values can also be changed manually by pressing the <Filter1> to <Filter4>
buttons.

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7. Measure the frequency response after the filter is applied.

What is to be done in this step is the same as in step 5.

8. You can fine-tune the filter manually based on the frequency response result after the filter is
applied.

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To change the filter parameters, press the <Filter1> to <Filter4> buttons.
To check the frequency response after the change, return to the previous window by pressing the
<<Back> button and perform the measurement.

If you obtain a satisfactory waveform, check [Is it O.K.?] and press the <Next>> button.
You can also change the torque command filter time constant (parameter No. 4121 or No. 4157) if
necessary.

9. Finally, the changed parameters are listed.

If you have the Parameter Window open, you can get the changed parameters reflected on it.
To do so, select [File] -> [Reload] in the Parameter Window.

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B-65404EN/02 CONCRETE EXAMPLES 1.CONCRETE EXAMPLES

1 CONCRETE EXAMPLES
This part uses examples to specifically explain how to make measurements using the three windows of
SERVO GUIDE.

• Tuning of the time constant of acceleration/deceleration in rapid traverse

• Tuning of circle
• Circle measurement for angular axis
• Tuning of square
• Tuning of square with 1/4 arc
• Tuning of rigid tapping
• Tuning of Cs contour control
• Measurement of vibrational frequency
• Measurement of the velocity loop frequency response of a servo axis
• Linear motor smoothing compensation

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1.1 TUNING OF THE TIME CONSTANT OF

ACCELERATION/DECELERATION IN RAPID TRAVERSE
You can measure and tune in the following procedure.
1. The first procedure is to make the test program of linear reciprocating motion in Program Window.
2. The second procedure is to set for measurement in Graph Window.
3. The third procedure is to run the program and to measure the data.
4. The fourth procedure is to tune the parameter as the need arises.

1.1.1 Test Program

In the Program Window, you can make and send the program in the following procedure.

1. The first procedure is to make the program by setting the various conditions.

2. Decide the program by pressing the <Apply> button .

At the time of the Series 16i/18i/21i/20i/0i/0i Mate, Power Mate i connection, the number of the
program is decided by pressing the <Input> button .
At the time of the Series 30i/31i/32i/35i, Power Motion i connection, the name of the program is
decided by pressing the <File> button .

→ Series 16i/18i/21i/20i/0i/0i Mate, Power Mate i

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→ Series 30i/31i/32i/35i, Power Motion i

* It is necessary to confirm the program code that SERVO GUIDE makes. If you want to modify the
program and add the code for example M code, you can edit the program text directly.

3. The third procedure is to press the <Sub-program transmission> button , the <Main-program
transmission> button .

4. The fourth procedure is to press the Cycle start button of machine. It is necessary to confirm that the
path of program is correct.

That’s all for preparation in Program Window.

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1.1.2 Preparation for Measurement

It is necessary to prepare the Graph Window setting in the following procedure.

1. The first procedure is to press the <Channel setting> button , and to set the graph display setting.
The sample is shown for reference.

Details

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In upper windows, it is set that motor speed is displayed on CH1, error is displayed on CH2, and
torque command is displayed on CH3.
* In upper example, the setting of CH3 are tuned for 80A amplifier. Set the conversion coefficient for
maximum current value of amplifier you use.

2. The second procedure is to turn back main of Graph Window, to change Y-T mode by pressing
[Ctrl]+[T].

3. The third procedure is to set the display setting after pressing the <Calculation display> button .
The sample is shown for reference.

The upper window is displayed the raw results of measurement data. The data on CH1[2,3] is
displayed at Draw 1[2,3].
The unit of pulse is μm because the relation between error and pulse is seen more easily.

4. Returning main window, this setting is terminated.

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1.1.3 Measurement
You can measure the data in the following procedure.

1. The first procedure is to press <Origin> button at one time in Graph Window.
In case that you set trigger, press the <Measurement start> button , too. (The mode changes to
trigger waiting mode.)

2. The second procedure is to press the <Main program transmission> button in Program
Window.

3. The third procedure is to run the program by the pressing the Cycle start button of machine.
In case that you set the trigger, the data measurement starts at the same time in Graph Window.
In case that you don't set the trigger, press the <Measurement start> button .

4. The following window is the sample of the measurement data.

Torque command
Motor speed

Error

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5. By the following button, the waveform is zoomed in or out suitably.

You can see the waveform for example following one.

Motor speed

Torque command
Error

1.1.4 Tuning of Parameters

The parameters are tuned with considering the result of measurement. It is shown to tune time constant on
rapid traverse.

1. The first procedure is to open the Parameter Window in ONLINE state.

2. The second procedure is to select [Acc/Dcc and normal control] in combo box of selection function.

3. The third procedure is to set time constant smaller on rapid feed.

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4. The fourth procedure is to measure the data again.

If you press the <Channel setting> button and change [Auto scale] to [disable] before
measurement, you can compare to the previous data more easily.

Motor speed

Torque command Error

For smaller time constant, you have bigger torque command, you can see that speed and error
change sharply.

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1.2 CONTOUR ERROR TUNING BY CIRCLE PATH

MEASUREMENT
You can measure and tune in the following procedure.
1 The first procedure is to make the test program of circle in Program Window.
2 The second procedure is to set for measurement in Graph Window.
3 The third procedure is to run the program and to measure the data.
4 The fourth procedure is to tune the parameter as the need arises.

1.2.1 Test Program

In the Program Window, you can make and send the program in the following procedure.

1. The first procedure is to make the program by setting the various condition.

2. Decide the program by pressing the <Apply> button .

At the time of the Series 16i/18i/21i/20i/0i/0i Mate, Power Mate i connection, the number of the
program is decided by pressing the <Input> button .
At the time of the Series 30i/31i/32i/35i, Power Motion i connection, the name of the program is
decided by pressing the <File> button .

→ Series 16i/18i/21i/20i/0i/0i Mate, Power Mate i

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→ Series 30i/31i/32i/35i, Power Motion i

* It is necessary to confirm the program code that SERVO GUIDE makes.

If you want to modify the program and add the code for example M code, you can edit the program
text directly.

3. The third procedure is to press the <Sub-program transmission> button , the <Main-program
transmission> button .

4. The fourth procedure is to press the Cycle start button of machine. It is necessary to confirm that the
path of program is correct.

That’s all for preparation in Program Window.

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1.2.2 Preparation for Measurement

It is necessary to prepare the Graph Window setting in the following procedure.

1. The first procedure is to press the <Channel setting> button , and to set the graph display setting.
The sample is shown for reference.

Details

In this setting, the position feedback integral value is displayed to CH1, CH2.

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2. The second procedure is to change XY mode by pressing the [Ctrl]+[X] after returning the Graph
Window.

3. The third procedure is to set the display setting after pressing the <Calculation display> button .
The sample is shown for reference.

In this window, the display is set as to display XY mode with the data (CH1, CH2) in Draw1.

4. Returning main window, this setting is terminated.

1.2.3 Measurement
You can measure the data in the following procedure.

1. The first procedure is to press <Origin> button at one time in Graph Window.
In case that you set trigger, press the <Measurement start> button , too. (The mode changes to
trigger waiting mode.)

2. The second procedure is to press the <Main program transmission> button in Program
Window.

3. The third procedure is to run the program by the pressing the Cycle start button of machine.
In case that you set the trigger, the data measurement starts at the same time in Graph Window.
In case that you don't set the trigger, press the <Measurement start> button .

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4. The following window is the sample of the measurement data.

5. To display the contour error of circle shape, it is necessary to change Circle mode with pressing
[Ctrl]+[B].

6. After pressing the <Calculation display> button , and selecting the [Scale(circle)] tab. You can
see the following window, and it is necessary to set as the following.

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7. To return to Graph Window mode, you can see the waveform as following one.

In the window, you can see the radius decreases because the setting is that position gain 30(s-1) and
no feed-forward.

1.2.4 Tuning of Parameters

The parameters are tuned with considering the result of measurement. It is shown to tune feed-forward
coefficient.

1. The first procedure is to open the Parameter Window in ONLINE state.

2. The second procedure is to select the [Contour error of arbitrary shape + feedforward] in the
function select combo box and to select the [Advanced preview FF].
(In the sample program, the advanced preview control is used.)

3. It is useful to select the [Open the different window with the same parameter] in [Window] menu,
because you can set the plural axes at the same time with setting the parameter in one window.

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4. In the following window, feed-forward function is enable and feed-forward coefficient is set to
100%.

* Set both the X axis and Y axis.

5. The fifth procedure is to measure the data again.

In this time, the getting error is lower, and zoom up the graph with pressing the “U(up)” key.

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1.3 CIRCLE MEASUREMENT FOR AN ANGULAR AXIS

You can measure in the following procedure.

This section describes the case where circle measurement is performed for an angular axis made up of the
X and Z axes as shown in the figure below by using X and Z of the program coordinate system.

+X Program coordinate system

+X Coordinate system actually used

(Angular axis)
θ

+Z (Cartesian axis)

θ: slant angle

In cases where XY circle measurement is performed when an independent axis irrelevant to angular axis
control exists as the Y axis, it is possible to carry out the measurement simply by multiplying the
conversion coefficient of the X axis (angular axis) by the normal value of cos θ, instead of by performing
the coordinate conversion using the servo guide described below (θ: angle).

1 The first procedure is to make the test program of circle in Program Window.
2 The second procedure is to set for measurement in Graph Window.
3 The third procedure is to run the program and to measure the data.

1.3.1 Test Program

In the Program Window, you can make and send the program in the following procedure.

1. The first procedure is to make the program by setting the various condition.

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2. Decide the program by pressing the <Apply> button .

At the time of the Series 16i/18i/21i/20i/0i/0i Mate, Power Mate i connection, the number of the
program is decided by pressing the <Input> button .
At the time of the Series 30i/31i/32i/35i, Power Motion i connection, the name of the program is
decided by pressing the <File> button .

→ Series 16i/18i/21i/20i/0i/0i Mate, Power Mate i

→ Series 30i/31i/32i/35i, Power Motion i

* It is necessary to confirm the program code that SERVO GUIDE makes. If you want to modify the
program and add the code for example M code, you can edit the program text directly.

3. The third procedure is to press the <Sub-program transmission> button , the <Main-program
transmission> button .

4. The fourth procedure is to press the Cycle start button of machine. It is necessary to confirm that the
path of program is correct.

That’s for preparation in Program Window.

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1.3.2 Preparation for Measurement

It is necessary to prepare the Graph Window setting in the following procedure.

1. The first procedure is to press the <Channel setting> button , and to set the graph display setting.
The sample is shown for reference.

Details

CH1 and CH2 are set so that position feedback integral values are output on CH1 and CH2.

2. The second procedure is to change XY mode by pressing the [Ctrl]+[X] after returning the Graph
Window.
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3. The third procedure is to set the display setting after pressing the <Calculation display> button .
The sample is shown for reference.

In this window, the display is set as to display XY mode with the data (CH1, CH2) in Draw1.
Set Cartesian axis as Input 1 and angular axis as Input 2. And select "A: Angular axis" as Coordinate
conversion and set the degree of the angle beside it.

4. Returning main window, this setting is terminated.

1.3.3 Measurement
You can measure the data in the following procedure.

1. The first procedure is to press <Origin> button at one time in Graph Window.
In case that you set trigger, press the <Measurement start> button , too. (The mode changes to
trigger waiting mode.)

2. The second procedure is to press the <Main program transmission> button in Program
Window.

3. The third procedure is to run the program by the pressing the Cycle start button of machine.
In case that you set the trigger, the data measurement starts at the same time in Graph Window.
In case that you don't set the trigger, press the <Measurement start> button .

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4. The following window is the sample of the measurement data.

After conversion from Angular to Cartesian

When you press [Ctrl]+[R], the angular conversion will be switched as toggle.

Before conversion from Angular to Cartesian

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5. You can use Circle mode against the waveform which is converted from Angular to Cartesian.
Press [Ctrl]+[B] to change to Circle mode.

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1.4 TUNING OF OVERSHOOTS BY MEASURING A SQUARE

PATH
You can measure and tune in the following procedure.
1 The first procedure is to make the test program of square in Program Window.
2 The second procedure is to set for measurement in Graph Window.
3 The third procedure is to run the program and to measure the data.
4 The fourth procedure is to tune the parameter as the need arises.

1.4.1 Test Program

In the Program Window, you can make and send the program in the following procedure.

1. The first procedure is to make the program by setting the various condition.

2. Decide the program by pressing the <Apply> button .

At the time of the Series 16i/18i/21i/20i/0i/0i Mate, Power Mate i connection, the number of the
program is decided by pressing the <Input> button .
At the time of the Series 30i/31i/32i/35i, Power Motion i connection, the name of the program is
decided by pressing the <File> button .

→ Series 16i/18i/21i/20i/0i/0i Mate, Power Mate i

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→ Series 30i/31i/32i/35i, Power Motion i

* It is necessary to confirm the program code that SERVO GUIDE makes.

If you want to modify the program and add the code for example M code, you can edit the program
text directly.

3. The third procedure is to press the <Sub-program transmission> button , the <Main-program
transmission> button .

4. The fourth procedure is to press the Cycle start button of machine. It is necessary to confirm that the
path of program is correct.

That’s all for preparation in Program Window.

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1.4.2 Preparation for Measurement

It is necessary to prepare the Graph Window setting in the following procedure.

1. The first procedure is to press the <Channel setting> button , and to set the graph display setting.
The sample is shown for reference.

Details

In upper window, the position feedback integral value is outputted to CH1, 2.

2. The second procedure is to change XY mode by pressing the [Ctrl]+[X] after returning the Graph
Window.
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3. The third procedure is to set the display setting after pressing the <Calculation display> button .
The sample is shown for reference.

In this window, the display is set as to display XY mode with the data (CH1, CH2) in Draw1.

4. Returning main window, this setting is terminated.

1.4.3 Measurement
You can measure the data in the following procedure.

1. The first procedure is to press <Origin> button at one time in Graph Window.
In case that you set trigger, press the <Measurement start> button , too. (The mode changes to
trigger waiting mode.)

2. The second procedure is to press the <Main program transmission> button in Program
Window.

3. The third procedure is to run the program by the pressing the Cycle start button of machine.
In case that you set the trigger, the data measurement starts at the same time in Graph Window.
In case that you don't set the trigger, press the <Measurement start> button .

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4. The following window is the sample of the measurement data.

5. The display range is changed to observe the overshoot at the upper right.
You can change the scale setting with the [F3] button.

In upper sample, the center of abscissa axis is changed to 20, one division is changed to 0.01 mm,
the center of ordinate axis is changed to -3, one division is changed to 1mm.

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6. Turning to the graph window, you can see the corner of the previous square in detail.

In this sample, you see that the occurred overshoot is about 50 μm.

1.4.4 Tuning of Parameters

The parameters are tuned with considering the result of measurement. It is shown to tune the Automatic
corner deceleration.

1. The first procedure is to open the Parameter Window in ONLINE state.

2. The second procedure is to select the [Acceleration + Advanced Preview Control] in the combo box
on function select and to select the [Corner deceleration] tab.
(In the sample program, the advanced preview control is used.)

3. The third procedure is to check the [Corner deceleration with velocity difference] and to set the
parameter of the allowed velocity difference.

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* These parameters are common values among all axes. It is not necessary to set each axis.

4. The fifth procedure is to measure the data again.

If you press the <Channel setting> button and change [Auto scale] to [disable] before
measurement, you can compare to the previous data more easily.

You can see that the overshoot is lower by the function Automatic corner deceleration.

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1.5 TUNING OF OVERSHOOTS BY MEASURING A SQUARE

PATH WITH ROUNDED CORNERS
You can measure and tune in the following procedure.
1 The first procedure is to make the test program of square with 1/4 arc in Program Window.
2 The second procedure is to set for measurement in Graph Window.
3 The third procedure is to run the program and to measure the data.
4 The fourth procedure is to tune the parameter as the need arises.

1.5.1 Test Program

In the Program Window, you can make and send the program in the following procedure.

1. The first procedure is to make the program by setting the various condition.

2. Decide the program by pressing the <Apply> button .

At the time of the Series 16i/18i/21i/20i/0i/0i Mate, Power Mate i connection, the number of the
program is decided by pressing the <Input> button .
At the time of the Series 30i/31i/32i/35i, Power Motion i connection, the name of the program is
decided by pressing the <File> button .

→ Series 16i/18i/21i/20i/0i/0i Mate, Power Mate i

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→ Series 30i/31i/32i/35i, Power Motion i

* It is necessary to confirm the program code that SERVO GUIDE makes.

If you want to modify the program and add the code for example M code, you can edit the program
text directly.

3. The third procedure is to press the <Sub-program transmission> button , the <Main-program
transmission> button .

4. The fourth procedure is to press the Cycle start button of machine. It is necessary to confirm that the
path of program is correct.

That’s all for preparation in Program Window.

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1.5.2 Preparation for Measurement

It is necessary to prepare the Graph Window setting in the following procedure.

1. The first procedure is to press the <Channel setting> button , and to set the graph display setting.
The sample is shown for reference.

Details

In this window, the position feedback integral value is outputted to CH1, 2.

2. The second procedure is to change XY mode by pressing the [Ctrl]+[X] after returning the Graph
Window.
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3. The third procedure is to set the display setting after pressing the <Calculation display> button .
The sample is shown for reference.

In this window, the display is set as to display XY mode with the data (CH1, CH2) in Draw1.

4. Returning main window, this setting is terminated.

1.5.3 Measurement
You can measure the data in the following procedure.

1. The first procedure is to press <Origin> button at one time in Graph Window.
In case that you set trigger, press the <Measurement start> button , too. (The mode changes to
trigger waiting mode.)

2. The second procedure is to press the <Main program transmission> button in Program
Window.

3. The third procedure is to run the program by the pressing the Cycle start button of machine.
In case that you set the trigger, the data measurement starts at the same time in Graph Window.
In case that you don't set the trigger, press the <Measurement start> button .

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4. The following window is the sample of the measurement data.

5. The display range is changed to observe the overshoot at the upper right.
You can change the scale setting with the [F3] button.

In upper sample, the center of abscissa axis is changed to 25, one division is changed to 0.01 mm,
the center of ordinate axis is changed to -6, one division is changed to 1mm.

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6 Turning to the Graph Window, you can see the corner of the previous square in detail.

In this sample, you see that the occurred overshoot is about 3 μm.

Reference)
The reference path is prepared in case that you select the [Square with 1/4 arc], the program path
(length = 20 mm and radius of corner = 5 mm), in the Program Window.
If you can select [PRESET] at [PEF] in [Calculation and display setting], you can use the reference
path, In the wave display ON/OFF panel, use on Contour mode etc with Refer checked.

1.5.4 Tuning of Parameters

The parameters are tuned with considering the result of measurement. It is shown to tune velocity cramp
by circle radius.

1. The first procedure is to open the Parameter Window in ONLINE state.

2. he second procedure is to select the [Acceleration + Advanced Preview Control] in the combo box
on function select and to select the [Arc radius deceleration] tab.
(In the sample program, the advanced preview control is used.)

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3. In the following window, it is shown to set the parameter.

* These parameters are common values among all axes. It is not necessary to set each axis.

4. The fourth procedure is to measure the data again.

If you press the <Channel setting> button and change [Auto scale] to [disable] before
measurement, you can compare to the previous data more easily.

You can see that the overshoot become less by the function Automatic deceleration.

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1.6 TUNING OF RIGID TAPPING SYNCHRONOUS ERROR

You can measure and tune in the following procedure.
1 The first procedure is to prepare the CNC parameter.
2 The second procedure is to make the test program for rigid tapping in Program Window.
3 The third procedure is to set for measurement in Graph Window.
4 The fourth procedure is to run the program and to measure the data.
5 The fifth procedure is to tune the parameter as the need arises.

1.6.1 Preparation on CNC

It is necessary to set the following CNC parameters for output of synchronous error in rigid tapping
mode.

#7 #6 #5 #4 #3 #2 #1 #0
3700 ESV

#5 ESV Rigid tapping synchronous errors are:

0: Not output to the tapping axis.
1: Output to the tapping axis.

1.6.2 Test Program

In the Program Window, you can make and send the program in the following procedure.

1. The first procedure is to make the program by setting the various condition.

2. Decide the program by pressing the <Apply> button .

At the time of the Series 16i/18i/21i/20i/0i/0i Mate connection, the number of the program is
decided by pressing the <Input> button .
At the time of the Series 30i/31i/32i/35i connection, the name of the program is decided by
pressing the <File> button .

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→ Series 16i/18i/21i/20i/0i/0i Mate

→ Series 30i/31i/32i/35i

* It is necessary to confirm the program code that SERVO GUIDE make.

If you want to modify the program and add the code for example M code, you can edit the program
text directly.

3. The third procedure is to press the <Sub-program transmission> button , the <Main-program
transmission> button .

4. The fourth procedure is to press the Cycle start button of machine. It is necessary to confirm that the
path of program is correct.

That’s all for preparation in Program Window.

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1.6.3 Preparation for Measurement

It is necessary to prepare the Graph Window setting in the following procedure.

1. The first procedure is to press the <Channel setting> button , and to set the graph display setting.
The sample is shown for reference.

Details

The upper window is set to display the velocity of Z axis in CH1 and the synchronous error of Z axis
in CH2.
* The synchronous error data can be checked for both the tapping axis (servo axis) and spindle.

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2. The second procedure is to turn back main of Graph Window, to change Y-T mode by pressing
[Ctrl]+[T].

3. The third procedure is to set the display setting after pressing the <Calculation display> button .
The sample is shown for reference.

In the above settings, the result of measurement on CH1 is directly output to Draw1, and the result
of measurement on CH2 is directly output to Draw2.

4. Returning main window, this setting is terminated.

1.6.4 Measurement
You can measure the data in the following procedure.

1. The first procedure is to press <Origin> button at one time in Graph Window.
In case that you set trigger, press the <Measurement start> button , too. (The mode changes to
trigger waiting mode.)

2. The second procedure is to press the <Main program transmission> button in Program
Window.

3. The third procedure is to run the program by the pressing the Cycle start button of machine.
In case that you set the trigger, the data measurement starts at the same time in Graph Window.
In case that you don't set the trigger, press the <Measurement start> button .

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4. The following window is the sample of the measurement data.

Velocity on Z axis

Synchronous error

In the above sample, the spindle speed and the synchronous error with the tapping axis are shown.

5. The synchronous error data is also output as the axis moves to the R point. However, because there
is no synchronization between the servo and spindle in this part, the data is meaningless. Since
attention is given only to the part where tapping actually occurs, the synchronous error waveform is
extended vertically.
Click any desired point on the synchronous error waveform with the [Arrow] button depressed.
The synchronous error waveform changes to a thick line.
To press the [Zoom in at vertical] button at some times, zoom the waveform till the suitable
size.

Velocity on Z axis

Synchronous error

To click the white part on graph, the Synchronous error waveform turn to the thin line.

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1.6.5 Tuning of Parameters

The parameters are tuned with considering the result of measurement. It is shown to tune the Position
gain.

1. The first procedure is to open the Parameter Window in ONLINE state.

2. The second procedure is to check the [SP] side at [Servo spindle parameter switching] radio button
in Parameter Window.

3. The third procedure is to select the [Rigid tapping] in the combo box on function select.

4. The fourth procedure is to select the [Position control] on function select tab.
You can see as the following picture.

5. To raise the position gain, it is necessary to change as the following.

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* There is the case that you see the message of [NC power OFF] when you change the parameter.
In this case, it is necessary to turn NC off and on. Then operate as the following.
Parameter window:
It is necessary to press the [Reconnection] in [File] menu.
Program window:
It is necessary to press the [Reconnection] in [File] menu.
Graph window:
It is necessary to press the <Disconnection> button at first and to press the <Connection>
button .

6. The sixth procedure is to measure the data again.

If you press the <Channel setting> button and change [Auto scale] to [disable] before
measurement, you can compare to the previous data more easily.

Velocity on Z axis

Synchronous error

You can see that the synchronous error is lower by the raising the position gain.

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1.7 TUNING OF CONTOUR ERROR BY MEASURING A Cs

CONTOUR CONTROL PATH
You can measure and tune in the following procedure.
1 The first procedure is to make the test program for the Cs contouring control in Program Window.
2 The second procedure is to set for measurement in Graph Window.
3 The third procedure is to run the program and to measure the data.
4 The fourth procedure is to tune the parameter as the need arises.

1.7.1 Test Program

In the Program Window, you can make and send the program in the following procedure.

1. The first procedure is to make the program by setting the various condition.

NOTE
The test program of Cs contouring control uses the polar coordinate
interpolation, so the absolute command is used.
It is necessary to be care to the setting value of [X coordinate value of start
point].

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2. Decide the program by pressing the <Apply> button .

At the time of the Series 16i/18i/21i/20i/0i/0i Mate, Power Mate i connection, the number of the
program is decided by pressing the <Input> button .
At the time of the Series 30i/31i/32i/35i connection, the name of the program is decided by pressing
the <File> button .

→ Series 16i/18i/21i/20i/0i/0i Mate, Power Mate i

→ Series 30i/31i/32i/35i

The program is made as the following. In case that the X value of start point is negative, the X-axis
approaches from negative side. On the contrary, in case that the X value of start point is positive, the
X-axis approaches from positive side.

* It is necessary to confirm the program code that SERVO GUIDE make. If you want to modify the
program and add the code for example M code, you can edit the program text directly.

3. The third procedure is to press the <Sub-program transmission> button , the <Main-program
transmission> button .

4. The fourth procedure is to press the Cycle start button of machine. It is necessary to confirm that the
path of program is correct.

That’s all for preparation in Program Window.

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1.7.2 Preparation for Measurement

It is necessary to prepare the Graph Window setting in the following procedure.

1. The first procedure is to press the <Channel setting> button , and to set the graph display setting.
The sample is shown for reference.

Details

* The upper window is set to display the integral value of positional feedback at X axis in CH1 and
the integral value of positional feedback at S1axis ( Spindle axis ) in CH2.
For the X axis, specify the coordinates of the start point in the "Origin Value" box.
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2. The second procedure is to turn back main of Graph Window, to change Y-T mode by pressing
[Ctrl]+[T].

3. The third procedure is to set the display setting after pressing the <Calculation display> button .
The sample is shown for reference.

The upper window is set to display the raw data of CH1 in Draw1 and the raw one of CH2 in Draw2.

4. Returning main window, this setting is terminated.

1.7.3 Measurement
You can measure the data in the following procedure.

1. The program made in the Program Window, at first, commands to move to the following coordinate
point (X,C)
= (Setting start point ), and stays as dwell for 3 seconds.
Do the [Origin] at the timing.
The first procedure is to explain how to start the program.
It is necessary to press the <Main program transmission> button in program window.

2. In the second procedure, you can begin running the program by the pressing the [Cycle start] button
of machine.

3. For first dwell, the third procedure is to press the <Origin> button at one time in graph
window.

4. The fourth procedure is to press the <Measurement start> button , too.

(If you set the trigger, the state is trigger. If you don't set the trigger, the measurement starts
immediately.)

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5. The following window is the sample of the measurement data.

Position Position
on C axis on X axis

The upper window is displayed the position feedback integral value at each axis.

6. This data is transformed to polar coordinate. Press the [Ctrl]+[R], so you can get as the following
waveform.

Position at a
horizontal axis

Position at a
vertical axis

The above figure shows the contouring position in the horizontal axis and vertical axis as a result of
the polar coordinate transformation using the X-axis position (radius) and C-axis position (angle).

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7. If you press the [Ctrl]+[X], the mode changes the XY mode.

You can see as the following waveform.

8. If you want to compare upper waveform to the program path, it is necessary to do the following
procedure.
The procedure is to press the <Calculation display> button , and select the program waveform
as the reference.

If you select the [CUSTOM] in REF, you can get the command made in program window as the reference
command.
The command program made in program window is approximated the segment whose length is 1 mm.
In case that the segment is too long, it is necessary to prepare the following text file.

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Using of program path changed segment length
(The example of program path file)
-30.000, 0.000
-30.100, 0.000
...
The upper file is the text file that is divided with comma between the horizontal coordinate and the
vertical coordinate.
To read a program path file you created, select [FILE] in REF, and press the <Open> button to select the
name of the program path file.

Reference
In case that you select the default parameter ( approach +30, each side 40mm,
radius of corner 5mm ) at [Cs program making] in program window, reference
waveform is prepared at [PRESET2] in REF combo box. You can the reference
waveform.

9. After you decide the program path, turning the Graph Window, check the [Refer] in [Waveform
ON/OFF panel]. Check that the specified program path is drawn over the obtained data.

10. Then, press [Ctrl]+[O] to enter the Contour mode (contouring comparison mode).
You see as the following contouring error.

If you press the "U(up)" or "D(down)", you can zoom up or down the contouring error. Change the
zooming ratio as necessary.

On contouring comparison mode, if you have the point that is passed at plural times on one path,
sometimes the waveform is disturbed.
That reason is that the point to compare can't be decided at one point. The program, made by the
program window of SERVO GUIDE, isn't considered that things.
So it isn't deny that the phenomenon doesn't occur. In upper example, at the corner near the start
point, the orbit is disturbed.

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Reference
If the resultant square is tilted, press [Channel setting] and try to correct an offset
value for measurement data or shift the time axis. (For details, see Subsection
5.15.2, "Measurement Data Value Scaling", and Subsection 5.15.3,
"Measurement Data Time Shift", in part I.)

1.7.4 Tuning of Parameters

The parameters are tuned with considering the result of measurement. It is shown to tune Position gain.

1. The first procedure is to open the Parameter Window in ONLINE state.

2. The second procedure is to select the [Position control relation] in the combo box on function select.
(The [Positional gain] is displayed in the function select tab.)

3. The third procedure is to select the [Open the other window on the same parameter] in the window
menu.

4. After opening the other window, the fourth procedure is to make the later window active and to
check [SP] side in [Servo spindle parameter switching] radio button.

5. The fifth procedure is to select the [Cs contouring control relation] in combo box of function select.

6. Then, select the [Position Control] function selection tab. After the above steps have been done, the
following window should be open:

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7. To raise the positional gain, in upper two windows, tune the [Positional gain] setting.

8. The eighth procedure is to measure the data again.

You can see that the synchronous error become less by the raising the positional gain.
It seems that the contouring error at the corner part is large. This phenomenon is occurred by the
following reason. That's why the command path data used reference, made in program window, consists
of 1mm segments. If you want to observe that corner in detail, it is necessary to prepare the program path
file whose segments are shorter than 1mm.
By specifying a tolerance value, you can prevent the contouring error of the circular interpolation part
(G02 or G03 command) from becoming larger than a certain value. For details, see Subsection 5.15.8,
“Tolerance Specification for Circular Interpolation Reference Data”.

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1.8 ANALYSIS OF VIBRATION FREQUENCY DURING FEED

AT CONSTANT FEEDRATE
You can measure in the following procedure.
1 The first procedure is to make the test program of straight movement in Program Window.
2 The second procedure is to set for measurement in Graph Window.
3 The third procedure is to run the program and to measure the data.

1.8.1 Test Program

In the Program Window, you can make and send the program in the following procedure.

1. The first procedure is to make the program by setting the various conditions.

2. Decide the program by pressing the <Apply> button .

At the time of the Series 16i/18i/21i/20i/0i/0i Mate, Power Mate i connection, the number of the
program is decided by pressing the <Input> button .
At the time of the Series 30i/31i/32i/35i, Power Motion i connection, the name of the program is
decided by pressing the <File> button .

→ Series 16i/18i/21i/20i/0i/0i Mate, Power Mate i

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→ Series 30i/31i/32i/35i, Power Motion i

* It is necessary to confirm the program code that SERVO GUIDE makes.

If you want to modify the program and add the code for example M code, you can edit the program
text directly.

3. The third procedure is to press the <Sub-program transmission> button , the <Main-program
transmission> button .

4. The fourth procedure is to press the Cycle start button of machine. It is necessary to confirm that the
path of program is correct.

That’s all for preparation in Program Window.

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1.8.2 Preparation for Measurement

It is necessary to prepare the Graph Window setting in the following procedure.

1. The first procedure is to press the <Channel setting> button , and to set the graph display setting.
The sample is shown for reference.

Details

The upper example is set to display the torque command to CH1. The sampling period is set to 125
μs. The number of data points are set to 800(0.1 second).
To measure till the high frequency, the sampling time should be set shorter.

* If you don't use the HRV2 control or more, you can't set sampling period to 125 μs.

The trigger number isn't set.

2. The second procedure is to turn back main of Graph Window, to change Y-T mode by pressing
[Ctrl]+[T].

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3. The third procedure is to set the display setting after pressing the <Calculation display> button .
The sample is shown for reference.

Draw1 is set so that data measured on CH1 is displayed directly.

4. Returning main window, this setting is terminated.

1.8.3 Measurement
You can measure the data in the following procedure.

1. The first procedure is to press <Origin> button at one time in Graph Window.

2. The second procedure is to press the <Main program transmission> button in Program
Window.

3. The third procedure is to run the program by the pressing the [Cycle start] button of machine.
In case that axis begins moving, press the <Measurement start> button .

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4. The following window is the sample of the measurement data.

5. To transform this waveform to Fourier, it is necessary to press the [Ctrl]+[F].

The upper graph has the peak of amplitude at 20(waves/0.1sec). You can see that the frequency of the
resonant point is 200 Hz in this case.

If you see the frequency of the resonant point, you had better use the filter function of the frequency.
Then you can raise the gain for example velocity loop gain with suppressing the resonance.

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B-65404EN/02 CONCRETE EXAMPLES 1.CONCRETE EXAMPLES

1.9 MEASUREMENT OF THE VELOCITY LOOP FREQUENCY

RESPONSE OF A SERVO AXIS
You can measure in the following procedure.
1 The first procedure is to set the parameter for measurement data in Graph Window.
2 The second procedure is to measure the data.

1.9.1 Preparation for Measurement

It is necessary to prepare the Graph Window setting in the following procedure.

1. Select the items from menu in the following order, [Tool] [Frequency analysis] [Measure – velocity
loop].
You see the following dialog, select the axis of measurement.

2. Usually the setting in this window is terminated, but if you set the parameter in detail, you can press
the [Detail] button.
Pressing the [Detail] button, the dialog becomes larger and the number of the parameters increases.

In this page, you can change the condition of measurement.

About the contents, refer the Subsection 5.11.1, “Frequency Response (Velocity Loop)”.

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1.CONCRETE EXAMPLES CONCRETE EXAMPLES B-65404EN/02

1.9.2 Measurement
You can measure the data in the following procedure.

1. The first procedure is to press the [Measurement start] in frequency characteristic measurement
dialog [Velocity loop].

2. After the machine moves with some seconds, you can see the Bode diagram as following.

You can see the frequency of the resonant point from this Bode diagram. If you use some filter functions,
you can raise the gain, for example the velocity loop gain, with suppressing the resonance.
To get the Bode diagrams of some machines by using the same parameter, you can see the individual
differences of each machine also.

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1.10 LINEAR MOTOR SMOOTHING COMPENSATION

You can measure and tune in the following procedure.
1 The first procedure is to make the test program of linear reciprocating motion in Program Window.
2 The second procedure is to set for measurement in Graph Window.
3 The third procedure is to run the program, to measure the data and to determine the parameters for
the compensation.

NOTE
When a synchronous built-in servo motor (DD motor) is used, smoothing
compensation can be used in the same way as for linear motors by setting bit 7
of parameter No. 2203 to 1. (Version 3.00 and later)

1.10.1 Test Program

In the Program Window, you can make and send the program in the following procedure.

1. The first procedure is to make the program by setting the various condition.

Make the program, which make the target axis move the distance of two magnetic poles. The speed is
about 6sec per one direction move. The above example is
the distance of one magnetic pole = 60mm
the speed is 1200mm/min.
(When the speed is too fast, the parameter calculation may become wrong.)
In the case of a synchronous built-in servo motor, when the number of magnetic poles of the motor is N,
then the feedrate is F14400/N deg/min.
Since the initial part of the travel distance is not used for smoothing compensation calculation, it is
recommended to make the travel distance slightly longer than necessary for back-and-forth
acceleration/deceleration.

2. Decide the program by pressing the <Apply> button .

At the time of the Series 16i/18i/21i/20i/0i/0i Mate, Power Mate i connection, the number of the
program is decided by pressing the <Input> button .
At the time of the Series 30i/31i/32i/35i, Power Motion i connection, the name of the program is
decided by pressing the <File> button .

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1.CONCRETE EXAMPLES CONCRETE EXAMPLES B-65404EN/02

→ Series 16i/18i/21i/20i/0i/0i Mate, Power Mate i

→ Series 30i/31i/32i/35i, Power Motion i

* It is necessary to confirm the program code that SERVO GUIDE makes. If you want to modify the
program and add the code for example M code, you can edit the program text directly.

3. The third procedure is to press the <Sub-program transmission> button , the <Main-program
transmission> button .

4. The fourth procedure is to press the Cycle start button of machine. It is necessary to confirm that the
path of program is correct.

That’s all for preparation in Program Window.

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B-65404EN/02 CONCRETE EXAMPLES 1.CONCRETE EXAMPLES

1.10.2 Preparation for Measurement

It is necessary to prepare the Graph Window setting in the following procedure.

1. The first procedure is to press the <Channel setting> button , and to set the graph display setting.
The sample is shown for reference.

Details

In upper windows, it is set that rotor position (ROTOR) is displayed on CH1, torque command (TCMD)
is displayed on CH2. (Don't make a mistake in reverse order.)
In the case of a synchronous built-in servo motor, set the synchronous built-in servo motor smoothing
compensation counter (ROTDD) in CH1.
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1.CONCRETE EXAMPLES CONCRETE EXAMPLES B-65404EN/02

* In upper example, the setting of CH2 is tuned for 40A amplifier. Set the conversion coefficient for
max current value of amplifier you use.

Set enough measurement time to measure all the data during one go-back. In above example, we use
15000 points (15 seconds) with 1ms sampling.

2. The second procedure is to turn back main of Graph Window, to change Y-T mode by pressing
[Ctrl]+[T].

3. The third procedure is to set the display setting after pressing the <Calculation display> button .
The sample is shown for reference.

The upper window is displayed the raw results of measurement data. The data on CH1 and CH2 is
displayed at Draw1 and Draw2.

4. Returning main window, this setting is terminated.

1.10.3 Measurement and Parameter setting

You can measure the data in the following procedure.

1. The first procedure is to press <Origin> button at one time in Graph Window.
In case that you set trigger, press the <Measurement start> button , too. (The mode changes to
trigger waiting mode.)

2. The second procedure is to press the <Main program transmission> button in Program
Window.

3. The third procedure is to run the program by the pressing the Cycle start button of machine.
In case that you set the trigger, the data measurement starts at the same time in Graph Window.
In case that you don't set the trigger, press the <Measurement start> button .

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B-65404EN/02 CONCRETE EXAMPLES 1.CONCRETE EXAMPLES
4. The following window is the sample of the measurement data.

Rotor position

Torque
command

5. Press [Ctrl]+[L]. (or select [LinearMotorComp.Cal.] in [Tool] menu.)

Press <Add> button in the new dialog. A parameter is registered as candidate.

To change the settings related to the smoothing compensation parameter calculation, press the
<Setting> button. For information about the options that you can set in the Setting dialog, see
Subsection 5.11.3, “Smooth Compensation Setting Support”.

The estimated parameters have some unevenness according to the measurement condition. So try
same <Add> procedure by using Program window and Graph window together. (The maximum
number of try is 5.)
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1.CONCRETE EXAMPLES CONCRETE EXAMPLES B-65404EN/02

Check the analyzed value. And if you find strange values, which are too much different form others,
turn off the check-box, which is located in the left-side of the list. The value is not adopted in the
final determination.

In the last, press <Calc> button both in normal direction part and in reverse direction part. The
parameters to set must be shown.

6. You can send the parameters to CNC by press <Set Param.> button.

7. Confirm the effect of the compensation by using Program window and Graph window.

Rotor position

Torque
command

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B-65404EN/02 CONCRETE EXAMPLES 1.CONCRETE EXAMPLES
By applying the calculated smoothing compensation parameters, you can check that the torque
command is smoother than before it is compensated.

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APPENDIX
B-65404EN/02 APPENDIX A.TROUBLESHOOTING

A TROUBLESHOOTING
A.1 GENERAL TROUBLE SHOOTING
Q1) In the case that you don't know how to terminate SERVO GUIDE.
A1) Right-click on main bar and you can see the pop up menu. Select [Termination] in the menu.
Reference)
2 MAIN BAR

Q2) In the case that you can't communicate with CNC (via Ethernet).
A2) There are the following reasons in that case.
* Setting of IP address or sub-net mask isn't matched between CNC side and PC side.
* Setting of IP address is different between CNC side and SERVO GUIDE side.
* There is a problem in LAN cable. (You may mistake the cable series (straight or cross), The
cable may be broken.)
Reference)
2.1VIA ETHERNET
Setting of PC (Windows 2000)
Setting of PC (Windows XP)
Setting of PC (Windows Vista/7)
2.1.4Setting of SERVO GUIDE

Q3) In the case that you can connect between Series 16i, 18i, 21i (with the Windows CE-enabled PC
function option).
A3) You can't connect with PCMCIA-LAN card on Series 16i, 18i, 21i (with the Windows CE-enabled
PC function option) for WindowsCE's occupation of card slot .
Therefore please connect with embedded Ethernet port.

Q4) SERVO GUIDE is something strange after CNC power is OFF and ON.
A4) It is the reason to stop Ethernet communication when CNC power is OFF.
To prevent it , when CNC power is OFF , you had better terminate SERVO GUIDE at the same
time.
If you don't want to terminate SERVO GUIDE, you try the following methods.

Parameter window :
Click the [Reconnection] in [File] menu.
Program window :
Click the [Reconnection] in [File] menu.
Graph window :
At first, click [disconnection] button and click [Connection] button .

A.2 PARAMETER WINDOW

Q1) The layout of window is unstable.
A1) Using [Big font] as [System font], the layout of window is unstable. Select [Setting] tab on [Monitor]
property of control panel, change the font size from [Big font] to [Small font] in [Detail]. After
change , use SERVO GUIDE.

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A.TROUBLESHOOTING APPENDIX B-65404EN/02

Q2) On multi-path control systems, parameters of 2nd path and succeeding path can't be handled.
A2) SERVO GUIDE version 3.0 and later versions support multi-path systems. Parameters, however, are
handled on a file-by-file basis. With the Series 16i, 18i, 21i, 20i, 0i, 0i Mate, or Power Mate i,
therefore, multiple paths may be handled only when the Parameter Window is connected online.
When a file is opened, parameters of only one path are displayed.
With the Series 30i, 31i, 32i, 35i, or Power Motion i, one file contains parameters of all paths, so
even when a file is opened, multiple paths may be handled.

Q3) Parameters of loader control board can't be handled.

A3) The Series 16i, 18i, 21i, 20i, 0i, 0i Mate, or Power Mate i does not allow access to parameters of the
loader control board via Ethernet. Therefore, in the Parameter Window, parameters of loader control
board cannot be set.
With the Series 30i, 31i, 32i, 35i, or Power Motion i, the loader system is also controlled by the
main CPU of the CNC, so the restriction mentioned above is not imposed.

A.3 GRAPH WINDOW

Q1) The number of waveform you see is lower than one you select.
A1) It is possible that the number of check is less in the Draw Select Panel.

Q2) The data isn't renewed after setting of measurement channel.

A2) Measurement channel information is transferred to the CNC only when the <Channel(F9)> button
in the menu or tool bar, or F9 is pressed to directly display the [Load data] tab, then OK is
pressed on the screen. Note that information set after the [Load data] tab is selected from a dialog
box that is displayed by pressing the <Calculation and display setting> button is not
transferred to the CNC.

Q3) You can’t get the data correctly on polar coordinate interpolation.
A3) In the case of getting the data on polar coordinate interpolation, the coordinate value of X-axis at
start point is important. Set coordinate value of start point correctly as origin point .

Q4) Though you want to get the data of spindle axis, you don't see the "S1" at combo box in axis setting .
A4) Unless the sampling period for spindle axes has been set, no spindle axis can be selected. Check
whether the sampling period for spindle axes is set.

Q5) The scale of waveform is wrong by some multiplication.

A5) The display unit of waveform may be wrong. (example: TCMD is measured but display unit is not
[um] but [Ap].)
Press the <Calculation and display setting> button or F5 then press OK. Alternatively, press
[Ctrl]+[T], and correct the display unit.

Q6) At Series 30i, 31i, 32i, 35i, or Power Motion i, axis can not be selected.
A6) If parameters related to system configuration are wrong, axis can not be selected properly. Check
parameters No.981 and No.982.

Q7) Trigger does not work and sampling starts immediately.

A7) Although trigger condition is settled, sampling may start with no waiting for trigger according to
circumstances.
It seems that the internal sequence number in the CNC is equal to trigger condition by some reason.
Try to take the following actions (a) to (c):

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B-65404EN/02 APPENDIX A.TROUBLESHOOTING
Workaround
a) If possible, change trigger condition and modify the test program.

b) Modify the test program to shorten the program block that sequence number is equal to trigger
condition. (Action to be taken when a reset occurs in the middle of execution)

• Trigger condition : N1
[Before]
G91G94
N1G00X100.000
M99

[After]
G91G94
N1
N2G00X100.000
M99

c) Add dummy program for changing the sequence number after the actual test program is added
and execute dummy program.
(Internal sequence number in the CNC may change according to the next program of the actual
test program.)

• Trigger condition : N1, Test program : O99

[Before]
O1
O2
O99
If O1 is selected as a result of a search for the next to O99, a trigger may not occur
properly.

[After]
O1
O2
O99
O100
By adding the dummy program, O1 is now not next search of O99.

Q8) Though you want to get the PMC signal data, you don't see "PMC(-127)" in the combo box for axis
setting.
A8) Unless the sampling period for the PMC signal is set, no axis can be selected. Select a sampling
period.

A.4 PROGRAM WINDOW

Q1) In the case that you want to make the other program except for preserved program.
A1) Select [Free Program] on program mode, edit the program edit box.
Select the horizontal axis and the vertical axis of target. Target objective, before clicking <Apply>
button.

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A.TROUBLESHOOTING APPENDIX B-65404EN/02

Q2) In the case that program path isn't displayed, or is displayed on the line.
A2) The path is displayed on 2 axes that is selected at axis setting mode. So, if you mistake to select the
axes, you can't show the path.

Q3) In the case that the program path displayed is different from one made by program.
A3) Only the G codes such as following codes are supported on simple path display of Program Window.
G01, G02, G03, G84, G12, 1
The paths commanded by other G codes are not displayed correctly perhaps.
Approve this point.

Q4) On multi-path control systems, you can't make the program of second system or later.
A4) SERVO GUIDE version 3.0 and later versions support multi-path systems. In the Program Window,
it has become possible to select a path and create a program.
The Series 16i, 18i, 21i, 20i, 0i, 0i Mate, or Power Mate i does not allow access to programs of the
loader control board via Ethernet. So, loader system programs cannot be created in the Program
Window.
With the Series 30i, 31i, 32i, 35i, or Power Motion i, the loader system is also controlled by the
main CPU of the CNC, so the restriction mentioned above is not imposed.

Q5) In the case of HPCC, AIHPCC and AINanoHPCC, you can't execute the program.
A5) HPCC, AIHPCC and AINanoHPCC can't be executed by sub-program call in the past. But we
revised it in the following CNC software series and editions. You can use them as same as other
High speed & High precision modes.
Series 16i-MB : B0H1/20 or later
Series 16i-TB : B1H1/20 or later
Series 18i-MB : BDH1/20 or later
Series 18i-MB5 : BDH5/10 or later
Series 18i-TB : BEH1/20 or later

A.5 TUNING NAVIGATOR

Q1) In a multi-path CNC, programs for the second and subsequent paths cannot be created.
A1) SERVO GUIDE version 3.0 and later versions support multi-path systems. The Series 16i, 18i, 21i,
20i, 0i, 0i Mate, or Power Mate i, however, does not allow access to programs of the load control
board via Ethernet, so the loader system is excluded from the supported paths.

Q2) Programs for high precision contour control, AI high precision contour control, and AI nano high
precision contour control cannot be executed.
A2) Conventionally, it was impossible to execute programs for high precision contour control, AI high
precision contour control, and AI nano high precision contour control. With the following CNC
software series and editions and later, it has become possible to execute such programs in the same
manner as in other high precision modes:
Series 16i-MB : B0H1/20 and later
Series 16i-TB : B1H1/20 and later
Series 18i-MB : BDH1/20 and later
Series 18i-MB5 : BDH5/10 and later
Series 18i-TB : BEH1/20 and later

Q3) Trigger does not occur properly and sampling starts immediately.
A3) Although a trigger condition is set, sampling may start without waiting for a trigger. This may be
because an internal sequence number in the CNC and the trigger condition match for a reason. Try to
take the following actions (a) and (b):

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B-65404EN/02 APPENDIX A.TROUBLESHOOTING
a) Correct the program to make the program block in which the sequence number and the trigger
condition match as short as possible. (Action to be taken when a reset occurs in the middle of
execution)

• Trigger condition : N1
Before
G91G94
N1G00X100.000
M99

After
G91G94
N1
N2G00X100.000
M99

b) Add a dummy program as a new program to change the sequence number after a test program
is executed first.
(After the test program is executed in MDI operation, an internal sequence number of the CNC
may change to the sequence number of a program selected by the next program search.)

• Trigger condition : N1, Test program : O99

Programs before addition of dummy program (in order of search)
O1
O2
O99
If O1 is selected as a result of a search for the next to O99, a trigger may not occur properly.

Programs after addition of dummy program (in order of search)

O1
O2
O99
O100
By adding a new program, O1 is no longer searched for next to O99.

Q4) The frequency response cannot be measured for automatic gain or filter tuning. (The axis is not
vibrated when the cycle is started.)
A4) The sequence may be designed so that a reset is made when the cycle is started. Make sure that a
reset is not made after the [Start] button is pressed when measuring the frequency response.

A.6 SPINDLE TUNING

Q1) An operation error occurs.
A1) This may occur when the communication with the CNC is slow. Try connecting directly to the CNC.

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B. FUNCTION CORRESPONDENCE
TABLE APPENDIX B-65404EN/02

B FUNCTION CORRESPONDENCE TABLE

B.1 SOFTWARE CORRESPONDENCE TABLE BY FUNCTION
The following tables show the corresponding software for each function that needs to support CNC
software.

I/O Link βi

[System software]
CNC models Series / Edition
Series 30i-B G301/01 or later, G311/01 or later, G321/01 or later, G331/01 or later
Series 31i-B5 G421/01 or later, G431/01 or later
Series 31i-B G401/01 or later, G411/01 or later
Series 32i-B G501/01 or later
Series 35i-B G601/01 or later
G002/23 or later, G012/23 or later, G022/23 or later
G003/06 or later, G013/06 or later, G023/06 or later
Series 30i-A
G00C/06 or later, G01C/06 or later, G02C/06 or later
G004/01 or later, G014/01 or later, G024/01 or later
G121/23 or later, G131/23 or later
G123/06 or later, G133/06 or later
Series 31i-A5
G12C/06 or later, G13C/06 or later
G124/01 or later, G134/01 or later
G101/23 or later, G111/23 or later
Series 31i-A G103/06 or later, G113/06 or later
G104/01 or later, G114/01 or later
G201/23 or later
Series 32i-A G203/06 or later
G204/01 or later
Series 16i-MB B0HA/24 or later, B0HK/01 or later, B0K1/01 or later, B0N1/01 or later
Series 16i-TB B1HK/06 or later, B1K1/01 or later, B1N1/01 or later
Series 18i-MB BDHA/24 or later, BDHK/01 or later, BDK1/01 or later, BDN1/01 or later
Series 18i-MB5 BDHE/14 or later, BDK5/01 or later, BDN5/01 or later
Series 21i-MB DDHA/24 or later, DDK1/01 or later
Series 21i-TB DEHK/06 or later, DEK1/01 or later
Series 0i-MD D4F1/01 or later
Series 0i-TD D6F1/01 or later
Series 0i Mate-MD D5F1/01 or later
Series 0i Mate-TD D7F1/01 or later
Power Motion i-A 88H0/01 or later
Power Mate i-D 88E3/01 or later
Power Mate i-H 88F3/01 or later

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 B.FUNCTION CORRESPONDENCE
B-65404EN/02 APPENDIX TABLE
[FOCAS1/2-related software]
FOCAS1/2-related
CNC models Specification Series / Edition
software
Series 30i/31i/32i/35i-B
A02B-0323-J571#658M 658M/01 or later
Power Motion i -A
Series 30i/31i/32i-A A02B-0303-J571#656E 656E/06 or later
Control software for Series 16i/18i/21i-B A02B-0281-J571#656A 656A/13 or later
embedded Ethernet
function 658E/01 or later
Series 0i-D A02B-0319-J571#658E 658E/02 or later (support
stand-alone type)
Power Mate i-D, i-H A02B-0259-J555#6567 6567/17 or later

Software for Ethernet

Series 30i/31i/32i-A A02B-0303-J572#656F 656F/07 or later
communication
management
Series 0i-D A02B-0319-J572#658F 658F/01 or later
Software for 15" LCD
A02B-0207-J595#60VB 60VB/1.7 or later
control (if using a 15" Series 30i/31i/32i-A
LCD) A02B-0207-J903#60VF 60VF1.0 or later
Series 30i/31i/32i-A
Windows CE.NET
(When the Windows
FOCAS2/HSSB A02B-0207-J808 1.7 or later
CE-enabled PC function
library
option is used)

[I/O Link βi-related software]

I/O Link βi-related software CNC models Remarks
Control software for I/O Link βi － 88A6/03 or later
Series 30i/31i/32i/35i-B,
Series 30i/31i/32i-A Software option
Power Mate CNC manager (J674)
Power Motion i-A
Series 16i/18i/21i,Power Mate i Software option
Power Mate CNC manager Series 0i-D Basic
Power Mate CNC manager function
Series 16i/18i/21i,Power Mate i 8A01/03 or later
(for βi)

PMC signal acquisition (SERVO GUIDE Ver5.00 or later)

[System software]
CNC models Series / Edition
Series 30i-B G301/07 or later, G311/07 or later, G321/07 or later, G331/07 or later
Series 31i-B5 G421/07 or later, G431/07 or later
Series 31i-B G401/07 or later, G411/07 or later
Series 32i-B G501/07 or later
Series 35i-B G601/01 or later
G002/38 or later, G012/38 or later, G022/38 or later
G003/21 or later, G013/21 or later, G023/21 or later
Series 30i-A
G00C/21 or later, G01C/21 or later, G02C/21 or later
G004/01 or later, G014/01 or later, G024/01 or later
G121/38 or later, G131/38 or later
G123/21 or later, G133/21 or later
Series 31i-A5
G12C/21 or later, G13C/21 or later
G124/01 or later, G134/01 or later
G101/38 or later, G111/38 or later
Series 31i-A G103/21 or later, G113/21 or later
G104/01 or later, G114/01 or later

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B. FUNCTION CORRESPONDENCE
TABLE APPENDIX B-65404EN/02

CNC models Series / Edition

G201/38 or later
Series 32i-A G203/21 or later
G204/01 or later
B0HK/06 or later
Series 16i-MB
B0K1/10 or later
B1HK/15 or later
Series 16i-TB
B1K1/10 or later
BDHK/06 or later
Series 18i-MB
BDK1/10 or later
BDHE/21 or later
Series 18i-MB5
BDK5/10 or later
DDHK/06 or later
Series 21i-MB
DDK1/10 or later
DEHK/15 or later
Series 21i-TB
DEK1/10 or later
Series 0i-MD D4F1/02 or later
Series 0i-TD D6F1/02 or later
Series 0i Mate-MD D5F1/02 or later
Series 0i Mate-TD D7F1/02 or later
Power Motion i -A 88H0/01 or later

[FOCAS1/2-related software]
FOCAS1/2-related
CNC models Specification Series / Edition
software
Series 30i/31i/32i/35i-B
A02B-0323-J571#658M 658M/01 or later
Power Motion i -A
Series 30i/31i/32i-A A02B-0303-J571#656E 656E/06 or later
656A/03 or later (except for
Series 16i/18i/21i-B A02B-0281-J571#656A
656A/07)
Control software for 658E/01 or later
embedded Ethernet Series 0i-D A02B-0319-J571#656E 658E/02 or later (support
function stand-alone type)
Series 0i-C, 20i-B A02B-0281-J571#656V 656V/01 or later
Power Mate i-D, i-H A02B-0259-J555#6567 6567/01 or later
Pulse input type Digital
Servo Adapter A02B-0259-J555#6567 6567/19 or later
[A03B-0818-B121]

Control software for 656A/05 or later (except for

Series 0i-B A02B-0299-J571#656A
PCMCIA LAN card 656A/07)

Software for Ethernet

Series 30i/31i/32i-A A02B-0303-J572#656F 656F/07 or later
communication
management
Series 0i-D A02B-0319-J572#658F 658F/01 or later

Software for 15" LCD A02B-0207-J595#60VB 60VB/1.7 or later

control (if using a 15" Series 30i/31i/32i-A
LCD) A02B-0207-J903#60VF 60VF1.0 or later

Windows CE.NET Series 30i/31i/32i-A

A02B-0207-J594 1.2 or later
customized OS (When personal computer
function option with
Windows CE.NET A02B-0207-J808 1.5 or later
WindowsCE is used)
FOCAS2/HSSB
library A02B-0207-J875 1.0 or later

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 B.FUNCTION CORRESPONDENCE
B-65404EN/02 APPENDIX TABLE
FOCAS1/2-related
CNC models Specification Series / Edition
software
Windows CE.NET
standard application/ A02B-0207-J809 1.2 or later
library

Extension of the number of PMC signal acquisition points (16 points) (Ver6.30 or
later)

[System software]
CNC models Series / Edition
Series 30i-B G301/07 or later, G311/07 or later, G321/07 or later, G331/07 or later
Series 31i-B5 G421/07 or later, G431/07 or later
Series 31i-B G401/07 or later, G411/07 or later
Series 32i-B G501/07 or later
Series 35i-B G601/01 or later
G002/66 or later, G012/66 or later, G022/66 or later
G00B/66 or later, G01B/66 or later, G02B/66 or later
Series 30i-A G003/49 or later, G013/49 or later, G023/49 or later
G00C/49 or later, G01C/49 or later, G02C/49 or later
G004/09 or later, G014/09 or later, G024/09, G034/09 or later
G121/66 or later, G131/66 or later
G12B/66 or later, G13B/66 or later
Series 31i-A5 G123/49 or later, G133/49 or later
G12C/49 or later, G13C/49 or later
G124/09 or later, G134/09 or later
G101/66 or later, G111/66 or later
Series 31i-A G103/49 or later, G113/49 or later
G104/09 or later, G114/09 or later
G201/66 or later
Series 32i-A G203/49 or later
G204/09 or later
Power Motion i -A 88H0/01 or later

[FOCAS1/2-related software]
Others Series / Edition
When a 15-inch display unit is used 60VF/05 or later
When personal computer function with Focas2is.DLL : 2.0.0.1 or later
WindowsCE is used f2is30.DLL : 2.0.0.1 or later
When fast Ethernet connection is used 6569/27 or later

CNC identification information acquisition

[System software]
CNC models Series / Edition
Series 30i-B G301/01 or later, G311/01 or later, G321/01 or later, G331/01 or later
Series 31i-B5 G421/01 or later, G431/01 or later
Series 31i-B G401/01 or later, G411/01 or later
Series 32i-B G501/01 or later
Series 35i-B G601/01 or later
G003/06 or later, G013/06 or later, G023/06 or later
Series 30i-A G00C/06 or later, G01C/06 or later, G02C/06 or later
G004/01 or later, G014/01 or later, G024/01 or later
G123/06 or later, G133/06 or later
Series 31i-A5 G12C/06 or later, G13C/06 or later
G124/01 or later, G134/01 or later
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B. FUNCTION CORRESPONDENCE
TABLE APPENDIX B-65404EN/02

CNC models Series / Edition

G103/06 or later, G113/06 or later
Series 31i-A
G104/01 or later, G114/01 or later
G203/06 or later
Series 32i-A
G204/01 or later
Series 16i-MB B0K1/04 降, B0N1/01 or later
Series 16i-TB B1K1/04 or later, B1N1/01 or later
Series 18i-MB BDK1/04 or later, BDN1/01 or later
Series 18i-MB5 BDK5/04 or later, BDN5/01 or later
Series 21i-MB DDK1/04 or later
Series 21i-TB DEK1/04 or later
Series 0i-MD D4F1/01 or later
Series 0i-TD D6F1/01 or later
Series 0i Mate-MD D5F1/01 or later
Series 0i Mate-TD D7F1/01 or later
Series 0i-MC D4C1/05 or later
Series 0i-TC D6C1/05 or later
Series 0i -TTC D6D1/01 or later
Series 0i Mate-MC D521/05 or later
Series 0i Mate-TC D721/05 or later
Power Motion i -A 88H0/01 or later

[FOCAS1/2-related software]
FOCAS1/2-related
CNC models Specification Series / Edition
software
Series 30i/31i/32i/35i-B
A02B-0323-J571#658M 658M/01 or later
Power Motion i -A
Series 30i/31i/32i-A A02B-0303-J571#656E 656E/06 or later
Control software for
Series 16i/18i/21i-B A02B-0281-J571#656A 656A/14 or later
embedded Ethernet
function 658E/01 or later
Series 0i-D A02B-0319-J571#658E 658E/02 or later (support
stand-alone type)
Series 0i-C A02B-0281-J571#656V 656V/07 or later

Software for Ethernet

Series 30i/31i/32i-A A02B-0303-J572#656F 656F/07 or later
communication
management
Series 0i-D A02B-0319-J572#658F 658F/01 or later
Software for 15" LCD
A02B-0207-J595#60VB 60VB/1.7 or later
control (if using a 15" Series 30i/31i/32i-A
LCD) A02B-0207-J903#60VF 60VF1.0 or later
Series 30i/31i/32i-A
Windows CE.NET A02B-0207-J808 1.7 or later
(When personal
FOCAS2/HSSB
computer function option
library A02B-0207-J875 1.2 or later
with WindowsCE is used)

Tuning navigator (Initial Gain-Tuning, Gain-Tuning, Automatic Filter-Tuning)

(SERVO GUIDE Ver2.00 or later)

[System]
CNC models Series / Edition
Series 30i/31i/32i/35i-B
90G0/06.0 or later
Power Motion i -A
Series 30i/31i/32i/35i-B 90D0/03 or later, 90E0/03 or later
Series 16i/18i/21i-B, 0i-B 90B0/20 or later, 90B6/01 or later, 90B1/01 or later
Series 0i-C, 20i-B 90B5/01 or later, 90B8/01 or later

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 B.FUNCTION CORRESPONDENCE
B-65404EN/02 APPENDIX TABLE
CNC models Series / Edition
Series 0i-D 90C5/01 or later, 90E5/01 or later

Tuning navigator (Backlash Acceleration Tuning)

(SERVO GUIDE Ver4.00 or later, tandem axis supporting Ver4.10 or later, improved Ver6.00 or later,
rotary axis supporting Ver6.3 or later)

[System]
CNC models Series / Edition
Series 30i-B G301/01 or later, G311/01 or later, G321/01 or later, G331/01 or later
Series 31i-B5 G421/01 or later, G431/01 or later
Series 31i-B G401/01 or later, G411/01 or later
Series 32i-B G501/01 or later
Series 35i-B G601/01 or later
G002/12 or later, G012/12 or later, G022/12 or later
G003/01 or later, G013/01 or later, G023/01 or later
Series 30i-A
G00C/01 or later, G01C/01 or later, G02C/01 or later
G004/01 or later, G014/01 or later, G024/01 or later
G121/12 or later, G131/12 or later
G123/01 or later, G133/01 or later
Series 31i-A5
G12C/01 or later, G13C/01 or later
G124/01 or later, G134/01 or later
G101/12 or later, G111/12 or later
Series 31i-A G103/01 or later, G113/01 or later
G104/01 or later, G114/01 or later
G201/12 or later
Series 32i-A G203/01 or later
G204/01 or later
Series 0i-MD D4F1/01 or later
Series 0i-TD D6F1/01 or later
Series 0i Mate-MD D5F1/01 or later
Series 0i Mate-TD D7F1/01 or later
Power Motion i -A 88H0/01 or later

[Servo software]
Target CNC model Series / Edition of servo software
Series 30i/31i/32i/35i-B
90G0/06.0 or later
Power Motion i -A
90D0/12 or later, 90E0/12 or later
Series 30i/31i/32i-A 90D0/15 or later, 90E0/15 or later (Tuning of tandem axes is supported.)
90D0/16 or later, 90E0/16 or later (Improvement type acceleration is supported.)
Series 0i-D 90C5/01 or later, 90E5/01 or later

Tuning navigator (Tuning of Interactive Force Compensation Gain) (SERVO

GUIDE Ver6.20 or later)

[System software]
CNC models Series / Edition
Series 30i-B G301/01 or later, G311/01 or later, G321/01 or later, G331/01 or later
Series 31i-B5 G421/01 or later, G431/01 or later
Series 31i-B G401/01 or later, G411/01 or later
Series 32i-B G501/01 or later
Series 35i-B G601/01 or later

- 277 -
B. FUNCTION CORRESPONDENCE
TABLE APPENDIX B-65404EN/02

CNC models Series / Edition

G002/23 or later, G012/23 or later, G022/23 or later
G003/06 or later, G013/06 or later, G023/06 or later
Series 30i-A
G00C/06 or later, G01C/06 or later, G02C/06 or later
G004/01 or later, G014/01 or later, G024/01 or later
G121/23 or later, G131/23 or later
G123/06 or later, G133/06 or later
Series 31i-A5
G12C/06 or later, G13C/06 or later
G124/01 or later, G134/01 or later
G101/23 or later, G111/23 or later
Series 31i-A G103/06 or later, G113/06 or later
G104/01 or later, G114/01 or later
G201/23 or later
Series 32i-A G203/06 or later
G204/01 or later
Power Motion i -A 88H0/01 or later

[Servo software]
Target CNC model Series / Edition of servo software
Series 30i/31i/32i/35i-B
90G0/06.0 or later
Power Motion i -A
Series 30i/31i/32i-A 90D0/16 or later, 90E0/16 or later

Measurement of position loop frequency response (SERVO GUIDE Ver7.10 or later)

[Servo software]
Target CNC model Series / Edition of servo software
Series 30i/31i/32i-A 90E1/04.2 or later, 90E0/30.0 or later

Spindle tuning function (Measurement of Acceleration/Deceleration

Performance, Measurement of Orientation) (SERVO GUIDE Ver5.00 or later)
[Spindle software]
Target spindle amplifier Series / Edition of spindle software
9D50/W(23) or later (for conventional αiSP, FS16i, and induction motor)
9D53/L(12) or later (for conventional αiSP, FS16i, and synchronous motor)
9D70/L(12) or later (for conventional αiSP and FS30i)
αi series spindle amplifier
9D80/H(08) or later (for level-up αiSP)
9D90/A(01) or later (for level-up αiSP)
9DA0/A(01) or later (for 30i-B)

Spindle tuning function (Frequency Response Measurement, Tuning

Navigator (Automatic Filter-Tuning)) (SERVO GUIDE Ver6.00 or later)
[Spindle software]
Target spindle amplifier Series / Edition of spindle software
9D50/X(24) or later (for conventional αiSP, FS16i, and induction motor)
9D53/M(13) or later (for conventional αiSP, FS16i, and synchronous motor)
9D70/M(13) or later (for conventional αiSP and FS30i)
αi series spindle amplifier
9D80/I(09) or later (for level-up αiSP)
9D90/A(01) or later (for level-up αiSP)
9DA0/A(01) or later (for 30i-B)

- 278 -
 B.FUNCTION CORRESPONDENCE
B-65404EN/02 APPENDIX TABLE

Extension of the number of spindle measurement channels (SERVO GUIDE

Ver8.00 or later)

[System software]
CNC models Series / Edition
Series 30i-B G301/14 or later, G311/14 or later, G321/14 or later, G331/14 or later
Series 31i-B5 G421/14 or later, G431/14 or later
Series 31i-B G401/14 or later, G411/14 or later
Series 32i-B G501/14 or later

[FOCAS1/2-related software]
Others Series / Edition
When a 15-inch display unit is used 60VP/03 or later
When personal computer function with f2is30.DLL : 2.3.0.1 or later
WindowsCE is used
When fast Ethernet connection is used 658K/06 or later (planned)

[Spindle software]
Target spindle amplifier Series / Edition of spindle software
αi series spindle amplifier 9DA0/K(11) or later (for 30i-B) (for FSSB connection only)

- 279 -
ADDITIONAL INFORMATION
 Notice of the update of Servo Tuning Tool FANUC SERVO GUIDE

1. Type of applied documents

Name FANUC SERVO GUIDE OPERATOR’S MANUAL
Spec. No./Ver. B-65404EN/02

2. Summary of Change
Group Name / Outline New, Add Applicable
Correct, Del Date
Basic Function - Overlay View Function Add 2012.02
- Addition of measurement data kind in the Add 2012.02
Graph Window
- Improvement of Tuning Navigator for Add 2012.02
backlash acceleration
- Support of Series 31i /32i /35i-B Transfer Add 2012.02
Line Function
Optional - Improvement of 3-D View Function Add 2012.02
Function
Unit

Maintenance
Parts
Notice

Correction

Another - Path deviation display with position feedback Add 2012.02

data for 3-D View (POS3D)

TITLE

Notice of the update of Servo Tuning

Tool FANUC SERVO GUIDE
DRAW. No.
01 12.02.07 Sugiyama Newly designed B-65404EN/02-001
CUST.

Design.
SHEET
Ed. Date Description 1/17
 We report the update of Servo Tuning Tool “FANUC SERVO GUIDE”

1. Update Edition

Old edition New edition Operation environment

8.00 8.10 Windows® Personal Computer (PC/AT COMPATIBLE)

2. Contents of change

(1) Overlay View Function

It is possible to display plural waveform data (up to 4) in the same GraphWindow, which is measured
under the same measurement setting. Overlay View Function cannot be used simultaneously with
3-D View Function.
See attachment 1 for details.

(2) Improvement of 3-D View Function

3-D View Function has been improved as follows.
・ Improvement of 5-axis coordinate conversion setting screen
(automatic setting of channels, support of imaginary rotary axis / angular axis control)
・ Addition of 5-axis machine parameter setting screen
・ Addition of new operations (curvature, normal acceleration, normal jerk)
・ Improvement of display color setting depending on the reference data (Absolute value)
・ Addition of length measurement mode (point to point) (ruler mode)
・ Support of 3-D View screen layout switching
See attachment 2 for details.

(3) Path deviation display with position feedback data for 3-D View
Path deviation display can be available in the 2-D graph without preparing the reference data by
measuring position feedback data for 3-D View, (3-D View Function option is NOT required.)
See attachment 3 for details.

(4) Addition of measurement data kinds in the Graph Window

See attachment 4 for details.

(5) Improvement of Tuning Navigator for backlash acceleration

In Tuning Navigator for backlash acceleration, override parameter setting screen for backlash
acceleration function have been added.
See attachment 5 for details.

(6) Series 31i /32i /35i-B Transfer Line Function have been supported.
See attachment 6 for details.

TITLE

Notice of the update of Servo Tuning

Tool FANUC SERVO GUIDE
DRAW. No.
01 12.02.07 Sugiyama Newly designed B-65404EN/02-001
CUST.

Design.
SHEET
Ed. Date Description 2/17
 3. Attachment

Attachment 1: Overlay View Function

Attachment 2: Improvement of 3-D View Function
Attachment 3: Path error display with position feedback data for 3-D View
Attachment 4: Addition of measurement data kinds in the Graph Window
Attachment 5: Improvement of Tuning Navigator for backlash acceleration
Attachment 6: Support of Series 31i /32i /35i - MODEL B Transfer Line Function

TITLE

Notice of the update of Servo Tuning

Tool FANUC SERVO GUIDE
DRAW. No.
01 12.02.07 Sugiyama Newly designed B-65404EN/02-001
CUST.

Design.
SHEET
Ed. Date Description 3/17
Attachment 1: Overlay View Function

(1) Abstract
Overlay View Function enables to display plural waveforms in the same window.

1) Time constant tuning 2) Backlash acceleration tuning

(2) Applicable software

SERVO GUIDE Edition 8.10 or later

(3) Specification
The specification of Overlay View Function is described as follows.

Item Specification
Number of overlay Up to 4 data (Record0 to Record3)
(Number of records) Records must be used in ascending order. (Can not skipped)
Required condition of Waveform data must be measured with same measurement settings.
overlay view Overlay View Function cannot load waveform data of different
channel setting.
(Difference of measurement axis is acceptable.)
Measurement Waveform data measured online is always stored to Record0 (called
“Captured”).
(Newly measured data is overwritten on Record0.)
Time adjustment In time-based display mode(Y-Time display), each waveform can be
(Time offset function) shifted independently on time axis.
Limitations • Frequency Response Measurement function, Spindle Tuning
function, Tuning Navigator
Overlay view will be canceled because the channel settings will be
changed automatically before starting measurement.
(The data of Record1 to Record3 will be cleared.)
• 3-D View Function
3-D View Function cannot be used with Overlay View Function.
Overlay view will be canceled, when 3-D View Function becomes
valid.

TITLE

Notice of the update of Servo Tuning

Tool FANUC SERVO GUIDE
DRAW. No.
01 12.02.07 Sugiyama Newly designed B-65404EN/02-001
CUST.

Design.
SHEET
Ed. Date Description 4/17
 (4) Usage
In order to use Overlay View Function, turn on [Overlay] checkbox in the GraphWindow.

Overlay View

Overlay waveform
(Light color)

Operations about Overlay view are performed at display setting panel “OverlayView”.

Record frame: [Copy To Record]:

If you click inside record Copy waveform data in
frame, clicked record Captured (record 0) to
becomes active. other record.
The waveform in the
active record will be [Time Offset]:
displayed with strong Displayed waveform data
color. is shifted on time axis.
A single record can be
activated.

Checkbox:
Only waveforms which [Save]:
have marked checkbox, Save overlay view data
are displayed. into package file and gdt
Checkbox of active record files.
cannot be turned off.
Active record is always [Read from File]:
displayed. Load waveform data file
to selected Record.

TITLE

Notice of the update of Servo Tuning

Tool FANUC SERVO GUIDE
DRAW. No.
01 12.02.07 Sugiyama Newly designed B-65404EN/02-001
CUST.

Design.
SHEET
Ed. Date Description 5/17
Attachment 2: Improvement of 3-D View Function

(1) Abstract
SERVO GUIDE 3-D View Function has been improved as follows.
・ Improvement of 5-axis coordinate conversion setting screen
・ Automatic channel setting to measure the tool center point of 5-axis machine
・ 5-axis conversion supporting wit imaginary rotary axis, angular axis control
・ Addition of 5-axis machine parameter setting screen
・ New operations
・ Curvature, normal acceleration, normal jerk
・ Improvement of display color setting depending on the reference data
・ Color-coded display by absolute value of the reference data
・ Others improvement (Miscellaneous)
・ Addition of length measurement mode (ruler mode)
・ Support of 3-D View screen layout switching

Note)
• Whenever you use 3-D View Function, hardware key must be attached to USB port of PC.

(2) Applicable software

SERVO GUIDE Edition 8.10 or later

(3) Additional functions

• Improvement of 5-axis coordinate conversion setting screen
At 5-axis coordinate conversion, imaginary rotary axis and angular axis control setting
had been supported.
And pressing [Automatic setting] button after selecting CNC path will perform channel
setting for measuring tool center point of 5-axis machine collectively as follows.
− Channel setting (POS3D)
− Axis setting of 5-axis (including imaginary rotary axis, angular axis control setting)
− Read 5-axis coordinate conversion parameters
− Origin setting
Please set work coordinate offset and tool offset manually, because these are not set
automatically.

• Addition of 5-axis machine parameter setting screen

Parameter setting screen concerning 5-axis machining had been added.
(It also supports imaginary rotary axis and angular axis control setting.)

TITLE

Notice of the update of Servo Tuning

Tool FANUC SERVO GUIDE
DRAW. No.
01 12.02.07 Sugiyama Newly designed B-65404EN/02-001
CUST.

Design.
SHEET
Ed. Date Description 6/17
 [5-axis coordinate conversion setting screen]
Automatic setting of channels for measuring tool center point

Imaginary rotary axis

5-axis machine parameter setting screen

[5-axis machine parameter setting screen]

Setting for imaginary

rotary axis

Setting for angular

axis control

TITLE

Notice of the update of Servo Tuning

Tool FANUC SERVO GUIDE
DRAW. No.
01 12.02.07 Sugiyama Newly designed B-65404EN/02-001
CUST.

Design.
SHEET
Ed. Date Description 7/17
 • New opeations
New operations for analyzing the tool path at 3-axis machining center or the path of tool
center point at 5-axis machine had been added.
Operation Input1 Input2 Remark
Curvature3D CH(n) CH(n+2) Curvature of 3D path is displayed.
TCP:X TCP:Z
NormAcc3D Normal acceleration of 3D path is displayed.
(Calculated from curvature and tangent speed)
NormJerk3D Normal jerk of 3D path is displayed.
(Calculated from normal acceleration)
• Input1, 2: A series of three channel position data is necessary.
Example: (CH1, CH2, CH3), (CH3, CH4, CH5), (TCP:X, TCP:Y, TCP:Z)

[Operation setting]

[Other setting]
Filters setting for new operation are available.

Filter setting

TITLE

Notice of the update of Servo Tuning

Tool FANUC SERVO GUIDE
DRAW. No.
01 12.02.07 Sugiyama Newly designed B-65404EN/02-001
CUST.

Design.
SHEET
Ed. Date Description 8/17
 • Improvement of display color setting depending on the reference data (Color-coded
display)
Reference data setting had been improved and absolute value setting is newly added.
This setting enables to display 3-D graph with color that depends on absolute value of
signed data, such as position error, velocity or acceleration.

Example: Display setting panel

(Color-coded display by absolute value of velocity

of secondary rotary axis)

Display color setting

Reference data setting

Absolute value

TITLE

Notice of the update of Servo Tuning

Tool FANUC SERVO GUIDE
DRAW. No.
01 12.02.07 Sugiyama Newly designed B-65404EN/02-001
CUST.

Design.
SHEET
Ed. Date Description 9/17
 • Length measurement mode (Ruler mode [point to point])
The distance between two measurement points selected on the 3-D graph can be measured.
Press toolbar button to change ruler mode. And then, move mouse cursor to the target
points on the 3-D graph, and select two measurement points (point A and point B).

Distance between two points and XYZ coordinate value of selected points are displayed in status
area of 3-D graph.
[A-B] Distance between point A and B
[A] XYZ value of point A (Draw number: data number)
[B] XYZ value of point B (Draw number: data number)

• Support of 3-D View screen layout switching

Screen layout of 3-D graph can be changed.
4-divided display A (compatible) Single display (non-divided)
XYZ
XY
XZ
YZ

4A

4B

4-divided display B 4B 4A

Select 3-D View screen layout

from right click menu
• 4-divided display:
4A, 4B: 2 layouts
• Single display:
XYZ, XY, XZ, YZ: 4 layouts

TITLE

Notice of the update of Servo Tuning

Tool FANUC SERVO GUIDE
DRAW. No.
01 12.02.07 Sugiyama Newly designed B-65404EN/02-001
CUST.

Design.
SHEET
Ed. Date Description 10/17
 (4) Related document
For detail of 3-D View Function, please refer to the following document.

“Servo Tuning Tool FANUC SERVO GUIDE 3-D View Function” (A-95363EN-05)

TITLE

Notice of the update of Servo Tuning

Tool FANUC SERVO GUIDE
DRAW. No.
01 12.02.07 Sugiyama Newly designed B-65404EN/02-001
CUST.

Design.
SHEET
Ed. Date Description 11/17
Attachment 3: Notice of path deviation display with position feedback data
for 3-D View

(1) Abstract
By measuring the position feedback data for 3-D View, path error display can be available without
preparing data of reference path.
(3-D View Function option is unnecessary for using this function)

2-D path error

(PathErr2D)

Commanded path for

path error calculation
(PathRef2D)

(2) Applicable software

SERVO GUIDE Edition 8.10 or later

Servo software
30i-B 90G0/01.0 or later
30i-A 90E0/30.0 or later, 90E1/04.0 or later, 90E4/04.0 or later
0i-D 90C8/03.0 or later, 90E8/03.0 or later (Note: see section (5))

Spindle software
αi amplifier for 30i-B 9DA0/09 or later
αi amplifier 9D80/20 or later, 9D90/07 or later

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 (3) Usage
Please measure the position feedback data for 3-D View (POS3D) of two axes, and set
graph mode to XY mode and select operation “PathErr2D” and “PathRed2D” in operation
setting screen

[Channel setting]

[Operation setting]

Operation Input1 Input2 Remark

PathErr2D CH1 CH2 Path error to commanded path is displayed.
(H-axis) (V-axis) Only channel of POS3D can be selected.
PathRef2D CH1 CH2 Commanded path for path error calculation is
(H-axis) (V-axis) displayed.
Only channel of POS3D can be selected.

(4) Limitation
In path deviation display with position feedback data for 3-D View (POS3D), path deviation
calculated from position feedback data for 3-D View (POS3D) is not completely equal to the
deviation between programmed path by G-code and actual path.
Because deviation is calculated from command points interpolated by CNC and these
points are affected by acceleration and deceleration processing of CNC.

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 (5) Usage of Servo software 90C8, 90E8 at Series 0i-D
In order to use Servo software 90C8 or 90E8 at Series 0i-D, please check the installed
Servo software series at SYSTEM CONFIG screen and set parameter No.1024=8 to all
axes if applicable software is installed to CNC.

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Attachment 4: Addition of measurement data kinds in the Graph Window

(1) Abstract
We newly added the following data kinds in the Graph Window.
The data name and meaning are described to the tables as below.

[Servo]
Name Meaning of measurement data Remark
TQMAX Torque limit data (maximum) *1
TQMIN Torque limit data (minimum) *1
*1) These data will be displayed at CNC diagnosis screen (DGN No. are not fixed.)

[Spindle]
[Spindle]
Name Meaning of measurement data Remark
TCMD2 Torque command 2 *2
*2) This data shows the specified limited torque value as 100%, that is determined by
limited output torque according to velocity in order to achieve specified output
characteristics of spindle motor.

(2) Applicable software series / edition

SERVO GUIDE Edition 8.10 or later

Servo software 90G0/14 or later

Spindle software 9DA0/14 or later
9D90/11 or later

Note)
The former version SERVO GUIDE (8.00 or before) can not read the graph data file
which has additional data in this version, correctly.

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Attachment 5: Improvement of Tuning Navigator for backlash acceleration

(1) Abstract
In Tuning Navigator for backlash acceleration, override parameter adjustment screen have added.

(2) Applicable software

SERVO GUIDE Edition 8.10 or later

(3) Contents
In Tuning Navigator for backlash acceleration, optimum compensation data is calculated from results
of circular movement at three different feedrate, and override parameters are also generated
automatically. But in some cases, generated override parameters are not enough and need to be
adjusted manually.
New screen for adjusting override parameters manually had been prepared.

Parameter confirmation screen Override parameter adjustment screen

Press “Modify” button at parameter

confirmation screen

Upper graph: override pattern

(H: Speed - V: Compensation amount of each factor)
Lower graph: backlash acceleration output pattern
(H: Time - V: Backlash acceleration amount)

Override parameter of backlash acceleration can be

optimized manually by observing these two graphs.

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Attachment 6: Support of Series 31i/32i/35i-B Transfer Line Function

(1) Abstract
SERVO GUIDE can be used for Series 31i /32i /35i - B Transfer Line Function.

(2) Applicable software

SERVO GUIDE Edition 8.10 or later

CNC software for Transfer Line Function

Series 31i-B G441 series
Series 32i-B G541 series
Series 35i-B G641 series

(3) Contents
ParameterWindow, ProgramWindow, Tuning Navigator had been modified to support
Transfer Line Function different from standard 30i-B series CNC as follows.
• Standard option for Transfer Line Function
• G code command for Transfer Line Function
• PMC signal interface for Transfer Line Function (F/G or M-NET)

As far as you use SERVO GUIDE for normal data measurement with the GraphWindow,
Edition 7.30 or later (support of standard 30i-B series CNC) can be available.

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 Notice of the update of Servo Tuning Tool FANUC SERVO GUIDE

1. Type of applied documents

Name FANUC SERVO GUIDE OPERATOR’S MANUAL
Spec. No./Ver. B-65404EN/02

2. Summary of Change
Group Name / Outline New, Add Applicable
Correct, Del Date
Basic Function - Improvement of Graph Window Add 2012.03

Optional
Function
Unit

Maintenance
Parts
Notice

Correction

Another

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 We report the update of Servo Tuning Tool “FANUC SERVO GUIDE”

1. Update Edition

Old edition New edition Operation environment

8.10 8.20 Windows® Personal Computer (PC/AT COMPATIBLE)

2. Contents of change

(1) Improvement of Graph Window

Graph Window has been improved as follows.
・ Window-collapse of display setting panel for Overlay View Function or 3-D View Function
・ New operations (tangent acceleration, tangent jerk)
See attachment 1 for details.

3. Attachment

Attachment 1: Improvement of Graph Window

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Attachment 1: Improvement of Graph Window

(1) Abstract
Graph Window has been improved as follows.
・ Window-collapse of display setting panel for Overlay View Function or 3-D View Function
・ New operations (Tangent acceleration, tangent jerk)

(2) Applicable software

SERVO GUIDE Edition 8.20 or later

(3) Contents
• Support window-collapse of display setting panels
If you double-click the title bar of display setting panel for Overlay View Function or 3-D
View Function, the window of display setting panel will be collapsed. You can observe
whole of graph without closing the display setting panel.

[Overlay View Function]

[3-D View Function]

A part of graph went behind Display setting panel was collapsed,

the display setting panel. then whole of graph is shown.

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 • Addition of new operations
New operations for analyzing the tool path of 3-axis machining or 5-axis machining had
been added.
Operation Input1 Input2 Remark
Tangent2N(AT) Tangent acceleration of 3D path is displayed.

Tangetn3N(JT) Tangent jerk of 3D path is displayed.

CH(n) CH(n+2)
Synthetic acceleration of 3D path is displayed.
SynthAccN(AT) TCP:X TCP:Z
(It shows a magnitude of acceleration)
Synthetic jerk of 3D path is displayed.
SynthJrkN(JT)
(It shows a magnitude of jerk)
• Input1, 2: A series of three channel position data is necessary.
Example: (CH1, CH2, CH3), (TCP:X, TCP:Y, TCP:Z)

[Operation setting]

Tangent speed (existing)

Tangent acceleration
Tangent jerk
Synthetic acceleration
Synthetic jerk

Waveform example (Square with 1/4 arc)

Position data
(Each axis)

Normal acceleration

Tangent speed

Tangent acceleration

Tangent jerk

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 Notice of the update of Servo Tuning Tool FANUC SERVO GUIDE

1. Type of applied documents

Name FANUC SERVO GUIDE OPERATOR’S MANUAL
Spec. No./Ver. B-65404EN/02

2. Summary of Change
Group Name / Outline New, Add Applicable
Correct, Del Date
Basic Function - Improvement of the Parameter Window Add 2012.06
- Supporting of data acquisition of the Add 2012.06
common power supply for 30i-B series
Optional
Function
Unit

Maintenance
Parts
Notice

Correction

Another

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Ed. Date Description 1/15
 We report the update of Servo Tuning Tool “FANUC SERVO GUIDE”

1. Update Edition

Old edition New edition Operation environment

8.20 8.30 Windows® Personal Computer (PC/AT COMPATIBLE)

2. Contents of change

(1) Improvement of the Parameter Window

Parameters for spindle synchronous control had been supported at the Parameter Window.
See attachment 1 for details.

(2) Supporting of data acquisition of the common power supply for 30i-B series.
The data acquisition of the common power supply for 30i-B series had been supported.
See attachment 2,3 for details.

3. Attachment

Attachment 1: Improvement of the Parameter Window

Attachment 2: Supporting of data acquisition of the common power supply for 30i-B series.
Attachment 3: Power source data monitoring software “PS Monitor”

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Attachment 1: Improvement of the Parameter Window

(1) Abstract
Parameters for spindle synchronous control had been supported at the Parameter
Window.

(2) Applicable software series / edition

SERVO GUIDE Edition 8.30 or later

(3) Changes of parameter screen

At parameter screen of spindle synchronous control, following parameters are changed
from the common parameters for rigid-tapping (servo mode) and spindle synchronous
control to the exclusive parameters for spindle synchronous control.

Parameter meaning Before (Original) After (Changed)

Velocity loop proportional gain No.4044, 4045 No.4550, 4551
Velocity loop integral gain No.4052, 4053 No.4552, 4553
Position gain No.4065~4068 No.4554~4557
Motor voltage No.4085, 4137 No.4558, 4559

Group: Spindle Synchronous Control

[Velocity Control] [Position Control]

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Attachment 2: Supporting of data acquisition of the common power supply
for 30i-B series

(1) Abstract
SERVO GUIDE can measure the data of common power supply for 30i-B series with max. 2 channels.
• The data in the common power supply, such as power source voltage, current, input
power, can be measured. (Data cycle is 1ms or 2ms)
• In case of setting the power source monitor data, 20 kinds of power source data can be
measured simultaneously. (Data cycle is 16ms)
* The maximum number of draw in GraphWindow is 8 (It is same as before).

(2) Applicable software series / edition

SERVO GUIDE Edition 8.30 or later

CNC software
Series 30i-B G301/10 or later, G311/10 or later, G321/10 or later, G331/10 or later
Series 31i-B5 G421/10 or later, G431/10 or later
Series 31i-B G411/10 or later, G411/10 or later
Series 32i-B G501/10 or later, G511/10 or later
Series 35i-B G601/03 or later, G611/03 or later
Power Motion i-A 88H0/01 or later

Servo control software

90G0/09 or later, 90G3/03 or later

Spindle control software

9DA0/11 or later

Servo amplifier software

9H00/05 or later

Common power supply software

9G00/09 or later

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 (3) Configuration
The common power supply (PS) has no way to communicate with CNC directly.
So, the power supply data is transferred through an axis driven by the servo/spindle amplifier
nearest to the PS (the axis is called as “PS control axis”).

PS data
power supply information PS data
power supply information SERVO GUIDE

PC
C C C C C C
X X X X X X
PS A A SV or SP A A SV or SP A A SV or SP
2 2 2 2 2 2
A B A B A B
PS control
axis

amplifier group "1"

PS data
power supply information PS data
power supply information

C C C C C C
X X X X X X
PS SV or SP SV or SP SV or SP
A
2
A
A
2
B
A
2
A
A
2
B
A
2
A
A
2
B
C
PS control N
axis
C
amplifier group "2"

PS data
power supply information PS data
power supply information

C C C C C C
X X X X X X
PS A A SV or SP A A SV or SP A A SV or SP
2 2 2 2 2 2
A B A B A B
PS control
axis

amplifier group "N"

Amplifier group:
It means a group of one PS and the servo/spindle amplifiers connected to the PS.
In order to identify two or more amplifier groups in one system, a unique number is
assigned to each amplifier group. It is called as an “amplifier group number”.

PS control axis:
It means an axis driven by the servo/spindle amplifier next to the PS.

For detail, please refer to “αi series SERVO AMPLIFIER for 30i-B Start-up and
Maintenance manual (B-65285EN/03-02/01)”. (The document is included as additional
information in αi series SERVO AMPLIFIER maintenance manual (B-65285EN/04).)

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 (4) Specification

The main specification of data acquisition is as follows.

Item Contents
Number of channels (Total) Max 8 channels (Servo, Spindle, PMC)
(Not changed)
Number of channels (PS) Max 2 channels per one PS
Since the PS data is acquired with PS control axis, the
number of channels is shared with PS control axis.
Sampling period Sampling period is in common with PS control axis
PS data can be acquired with 1ms or more.
(PS data can not be acquired with less than 1ms)
Channel setting Refer to the next section (Channel setting).

Data cycle of PS data It depends on the number of channels per one PS.
• 1 channel → 1ms
• 2 channels → 2ms
In case that data cycle is 2ms and sampling period is 1msec,
same data value will be acquired twice.

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 (5) Channel setting
The channel setting screen will be changed as follows.
• Right side of “Axis” : Axis name of PS control axis is displayed, which corresponds to the selected axis
• Right side of “Kind” : In case of selecting “PSDATA”, the actual kind of PS data can be selected.
• “…” : The amplifier configuration screen is displayed. (Refer to section (8).)

Axis name of PS control axis

Select “PSDATA” Display amplifier configuration screen

Select kind of PS data

In order to measure the PS data, set the channel setting as follows.

Axis: Select the PS control axis
Kind: Select PSDATA → Select the kind of PS data

If the selected axis is not PS control axis, PS data can’t be measured.

If there is the PS control axis corresponded to the selected axis, selection of axis will be
changed to the PS control axis automatically by selecting the data kind “PSDATA”.
If there is not the PS control axis corresponded to the selected axis, the data kind “PSDATA”
can not be selected. (Not displayed in the selection of Kind)

* “PSDATA” will be displayed at the end of the selection of Kind.

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 (6) Available data
The following data can be acquired in the common power supply.
Name Meaning of measurement data Remark
EPSNRM Power source voltage
EPSPHS Phase of power source voltage
EPSFRQ Power source frequency
INORM Amplitude of power source current
VDC DC-link voltage
PSSEQ PS control sequence
PSSTS PS status signal (Maintenance data)
SVCMD SV command (Maintenance data)
CTRCMD PS control axis command (Maintenance data)
PSALM1~4 PS alarm status 1~4 (Maintenance data)
PSFLG1~4 PS flag 1~4 (Maintenance data)
MNTD1, MNTD2 Power source monitor data Refer section (7)

Note)
The former version SERVO GUIDE can not read the graph data file which includes
new data added in this version SERVO GUIDE.

(7) Power source monitor data

[Abstract]
20 kinds of power source data can be measured simultaneously by using two channels.
(Data cycle of each power source data is 16ms.)
Waveform of selected power source data can be displayed from 20 kinds of power source data.

[Channel setting]
In order to acquire the power source monitor data (MNTD1, MNTD2), sampling period must be
set to 1msec. You can’t select power source monitor data except sampling period 1msec.
And once you select MNTD1, MNTD2 is automatically selected at the next channel, because of
requirement of a series of two channels.

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 ARB

Select power source monitor data 1 MNTD2 is automatically selected

(MNTD1) at the next channel.

The power source monitor data includes the following power source data.
Group Contents Symbol Unit
Voltage Voltage ave. Eavr V
Voltage max. Emax V
Voltage min. Emin V
Voltage unbalance Eunb ％
Current Current amplitude ave. Iavr A
Current amplitude max. Imax A
Current amplitude min. Imin A
Electric Power Active power POWact kW
Maximum power POWmax kW
Reactive power POWvar kvar
Apparent power POWsurf kVA
Power factor POWpf --
Frequency Power source frequency Freq Hz
Harmonics Voltage THD Ethd ％
3rd order harmonics Eh3 ％
5th order harmonics Eh5 ％
7th order harmonics Eh7 ％
DC link DC link voltage ave. VDCavr V
DC link voltage max. VDCmax V
DC link voltage min. VDCmin V
Symbols are shown at operation and display setting screen to select the power source data.
And ave./max./min. means average value / maximum value / minimum value among the nearest
input power cycle (AC 1cycle) respectively.
Sign of active power is positive during power running, and negative during regeneration.
Sign of reactive power is negative when current phase delays against voltage
(Inductive load like a motor indicates the negative value.)
Apparent power and power factor are unsigned value.

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 [Display setting]
Power source monitor data (PSDATA:MNTD1, MNTD2) can be used to display the power source
data by “PS Monitor” operation at Operation and Display setting screen. And the power source
data can be displayed with axis data simultaneously.

Operation : Select “PSMonitor”

Input1 : Select the channel of “PSDATA:MNTD1”
Input2 : Select the kind of power source data

mm

Operation: “PSMonitor”
Input1: Channel of “PSDATA:MNTD1”
Select the kind of power source data

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 (8) Amplifier configuration

This screen displays the amplifier configuration.

The axis which has * mark before the axis name means the PS control axis.

Note:
The amplifier configuration in this screen is based on the diagnosis value of No 1760, 1761
(Amplifier group information). Therefore, if there is dummy axis or disabled servo axis in the
amplifier group, the amplifier configuration may differ from the actual amplifier configuration
because the diagnosis values are incomplete.

(9) Limitation
There are the some limitations about data acquisition of the common power supply.

The following operation while data acquisition of the common power supply, causes the pause of
outputting the common power supply data.
• Display of the trouble diagnosis graph
(Priority to transfer the waveform data at the alarm occurrence)
• Change of some servo parameter
(Parameter number: No.2563#0, 2650~2653)

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 (10) Example

• Power source voltage & current, DC link voltage during acceleration/deceleration of spindle motor

10V PS: Power source voltage

210V

50A PS: Power source current

0A
300V PS: DC link voltage
50V

5000min-1 Spindle motor speed

500ms

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Attachment 3: Power source data monitoring software “PS Monitor”

(1) Abstract
Power source data monitoring software “PS Monitor” is the supplemental software of SERVO GUIDE
that can display the 20 kinds of power source data in the common power supply for 30i-B series. The
software is offered as the separate executable file beside the main executable file of SERVO GUIDE.
This software can display the numerical value of power source data as a list and can output the
data to file.
And this software can monitor the power source data from 4 units of common power supply.

Note)
While PS Monitor is running, SERVO GUIDE cannot measure waveforms.

(2) Applicable software

PS Monitor Edition 1.00 or later
PS Monitor is attached to SERVO GUIDE Edition 8.30 or later

CNC software
Series 30i-B G301/10 or later, G311/10 or later, G321/10 or later, G331/10 or later
Series 31i-B5 G421/10 or later, G431/10 or later
Series 31i-B G411/10 or later, G411/10 or later
Series 32i-B G501/10 or later, G511/10 or later
Series 35i-B G601/03 or later, G611/03 or later
Power Motion i-A 88H0/01 or later

Servo control software

90G0/09 or later, 90G3/03 or later

Spindle control software

9DA0/11 or later

Servo amplifier software

9H00/05 or later

Common power supply software

9G00/09 or later

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 (3) Displayed items
Displayed items on PS Monitor are as follows.
Group Item Explanation Unit
Voltage Voltage ave. Average amplitude of voltage vector V
Voltage max. Maximum amplitude of voltage vector V
Voltage min. Minimum amplitude of voltage vector V
Voltage unbalance Unbalance of power source voltage ％
Current Current amplitude ave. Average amplitude of current vector A
Current amplitude max. Maximum amplitude of current vector A
Current amplitude min. Minimum amplitude of current vector A
Electric Power Active power Active power kW
Maximum power Maximum value of active power kW
Reactive power Reactive power kvar
Apparent power Apparent power kVA
Power factor Power factor --
Frequency Power source frequency Power source frequency Hz
Harmonics Voltage THD Voltage Total Harmonic Distortion ％
3rd order harmonics 3rd order harmonics of voltage vector ％
5th order harmonics 5th order harmonics of voltage vector ％
7th order harmonics 7th order harmonics of voltage vector ％
DC link DC link voltage ave. Average value of DC link voltage V
DC link voltage max. Maximum value of DC link voltage V
DC link voltage min. Minimum value of DC link voltage V
Ave./max./min. means average value / maximum value / minimum value among the nearest input
power cycle respectively.
Sign of active power is positive during power running, and negative during regeneration.
Sign of reactive power is negative when current phase delays against voltage.
(Inductive load like a motor indicates the negative value.)
Apparent power and power factor are unsigned value.

(4) Limitations
• The displayed values such as Voltage, Current, and Frequency are approximate value and they
have some error.
• If you want to know the precise values, please measure them by exclusive equipments.

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 (5) Startup
Start PS Monitor from the shortcut on the program menu.

(6) Screenshot
Channel View List View

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 Notice of the update of Servo Tuning Tool FANUC SERVO GUIDE

1. Type of applied documents

Name FANUC SERVO GUIDE OPERATOR’S MANUAL
Spec. No./Ver. B-65404EN/02

2. Summary of Change
Group Name / Outline New, Add Applicable
Correct, Del Date
Basic Function - Parameter Automatic Saving Function Add 2013.04
- Improvement of Tuning Navigator Add 2013.04
- Addition of measurement data kind in the Add 2013.04
Graph Window

Optional - Improvement of 3-D View Function Add 2013.04

Function
Unit

Maintenance
Parts
Notice

Correction

Another

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 We report the update of Servo Tuning Tool “FANUC SERVO GUIDE”

1. Update Edition

Old edition New edition Operation environment

8.40 9.00 Windows® Personal Computer (PC/AT COMPATIBLE)

2. Contents of change

(1) Parameter Automatic Saving Function and additional tools (FileViewer, Parameter Comparison Tool)
This function supports to save waveform data and all CNC parameter, which is automatically
retrieved just after measurement, into one file. And additional tools (FileViewer and Parameter
Comparison Tool) support to confirm measurement settings in saved files, and to trace changed
parameters by comparing parameters in saved files.
See attachment 1 for details.

(2) Improvement of 3-D View Function (3-D reference path display)

3-D View Function has been improved as follows.
• 3-D reference path display
(Displaying points imported from CSV file as 3-D reference path)
See attachment 2 for details.
And please refer to the following document for detail of 3-D View Function.
“Servo Tuning Tool FANUC SERVO GUIDE 3-D View Function” (A-95363EN-05)

(3) Improvement of Tuning Navigator (Spindle velocity gain tuning for Cs axis)
Tuning navigator newly supports spindle velocity gain tuning for Cs axis.
See attachment 3 for details.

(4) Addition of measurement data kinds in the Graph Window

See attachment 4 for details.

3. Attachment

Attachment 1: Parameter Automatic Saving Function

Attachment 2: Improvement of 3-D View Function
Attachment 3: Improvement of Tuning Navigator
Attachment 4: Addition of measurement data kinds in the Graph Window

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Attachment 1: Parameter Automatic Saving Function

(1) Abstract
Parameter Automatic Saving Function supports to save waveform data and all CNC parameter,
which is automatically retrieved just after measurement, into one file.
And additional tools (FileViewer, and Parameter Comparison Tool) support to confirm measurement
settings in saved files, and to trace changed parameters by comparing parameters in saved files.

(2) Applicable software

SERVO GUIDE Edition 9.00 or later (Except for Graph Edition)
Applicable CNC series 30i/31i/32i/35i-B, 30i/31i/32i-A, 0i-D, Power Motion i-A
(16i, 0i-B/C, and the like are not supported.)

(3) Specification
The specification of Parameter Automatic Saving Function is described as follows.
Item Specification
Saved data type and A) NC data which is retrieved after measurement
its retrieval timing - All CNC parameter (CNC-PARA.TXT)
B) NC data which is retrieved when this function becomes effective
- CNC ID information (CNCIDNUM.TXT)
- System configuration information (SYS-CONF.TXT)
- Servo / Spindle information (SV_SP_ID.TXT)
- Amplifier configuration info. (30i-B series)
There are some cases where NC data (B) can not be retrieved
depending on the CNC software series / edition
Means to retrieve PC requests CNC to output parameter, and retrieves the whole of
parameters and CNC parameters (CNC-PARA.TXT). Parameter range to output
retrieval range cannot be specified.
During outputting parameters from CNC, “OUTPUT” status blinks
at CNC status area.
RESET signal during RESET signal to CNC stops the parameter output during parameter
parameter retrieval retrieval. This function will discard already-retrieved parameter data
and try to retrieve parameters again.
Default setting of retry is 2-times at maximum.
Detailed timing to • Normal, Frequency Response, Spindle Tuning
retrieve parameter Parameter is retrieved just after measurement.
• Tuning Navigator
Parameter that reflects tuning settings is retrieved after
measurement. (After that, parameter will be restored to original
settings before tuning)
Using of repeat Since a waveform cannot be measured during retrieving parameter,
measurement the Continuous measurement mode cannot be used together.
function The Repeat measurement mode can be used together. However,
trigger is detected after retrieving all parameter. (Trigger cannot be
detected during retrieving parameter)

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 Confirmation of data Parameter data will be stored with the waveform data into one file
and its usage (GDT).
You can check or output the content by selecting [CNC information]
or [Save CNC Information] item in the [File] menu.
And additional tools (FileViewer and Parameter Comparison tool)
support to confirm changed parameters in saved files.

(4) Usage
Parameter Automatic Saving Function is enabled by default. Then setting screen of parameter
automatic saving function will be displayed at the first ON-LINE connection of the Graph Window.
If you don’t want to use this function, you should uncheck “Use parameter auto saving at
measurement” and press [OK] button.

If Parameter Automatic Saving Function is effective, the string of “[ParameterAutoSaving]” will be

displayed on the title bar of the GraphWindow.
And the setting screen of Parameter Automatic Saving Function can be displayed by selecting menu:
[File] Æ [Save Setting] Æ [ParameterAutoSaving Setup].

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 All of retrieved NC data, such as CNC-PARA.TXT, CNCIDNUM.TXT, SYS-CONF.TXT,
SV_SP_ID.TXT, can be displayed by selecting menu: [File] Æ [CNC information].
And you can save NC data as text file by selecting menu: [File] Æ [Save CNC information]

CNC information

Save CNC information

(5) Caution
In case that the external output command of custom macro (POPEN) is commanded by NC programs
or MTB ‘s custom program (such as embedded macros, execution macros) during retrieving
parameters from CNC, the alarm of “PS 1808: DEVICE DOUBLE OPENED” will be occurred.
Please refrain from the use of this function when there is a possibility to use the external output
commands of custom macro (POPEN, BPRNT, DPRNT, PCLOS) at automatic operation mode.

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 (6) Additional tools
Additional tools support to trace changed parameters by comparing parameters in saved files with
parameter automatic saving function.

Parameter
SERVO GUIDE Automatic gdt file
Saving Parameter
Graph
DATA Comparison
Window PRM Tool

Display by list
[Open Graph]
PRM
Parameter PRM PRM
FileViewer
Window
[Open Param] [Compare Param]

• FileViewer
This tool shows list of waveform data files (GDT) on the specified folders.
You can confirm measurement settings in waveform data files, such as measured date,
comment, parameter included or not, or channel setting at the FileViewer.
And you can open the GraphWindow or the Parameter Window by selecting one waveform
data file.

• Parameter Comparison Tool

This tool supports to trace changed parameter.
You can show changed parameter list from plural saved files by selecting plural saved files
at the FileViewer.
(This tool only supports to compare parameters of the same axis configuration.)

FileViewer Parameter Comparison Tool

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Attachment 2: Improvement of 3-D View Function

(1) Abstract
Following function is newly added to 3-D View Function.
・ 3-D reference path display
(Displaying points imported from CSV file as 3-D reference path)

Note)
• 3-D View Function is OPTION (A08B-9010-J904). Whenever you use 3-D View Function,
hardware key must be attached to USB port of PC.

(2) Applicable software

SERVO GUIDE Edition 9.00 or later

(3) File format for data points

In order to display the 3-D reference path data at 3-D View, the following data are required.
• 3-D coordinates value (XYZ) ------ Required
• 3-D vector data for tool orientation (IJK) ------ Option
(Display length of tool vector is synthetic value of IJK component)

The required file format is CSV format (plane text divided by commas) as below.
(All data unit should be described as mm (metric unit))

[Example of CSV data file]

3-D coordinates(XYZ) 3-D vector data(IJK)
X Y Z I J K
545.996, -204.729, -206.341, -0.565, -0.824, -0.052
546.022, -204.745, -206.317, -0.566, -0.823, -0.051
546.047, -204.760, -206.293, -0.567, -0.822, -0.049
546.075, -204.776, -206.271, -0.569, -0.821, -0.048
546.102, -204.792, -206.249, -0.570, -0.820, -0.046
546.130, -204.809, -206.227, -0.571, -0.820, -0.044
546.157, -204.826, -206.207, -0.572, -0.819, -0.043
CSV file

… (omission of middle part) …

540.367, -223.367, -173.861, -0.460, -0.059, 0.886

540.367, -223.367, -173.861, -0.460, -0.059, 0.886
540.367, -223.367, -173.862, -0.460, -0.059, 0.886

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 (4) Usage
• Specify CSV file for 3-D reference path data at the 3-D graph setting screen.

Set to calculate path deviation between Draw1 (feedback) and

REF (3-D reference path)

Set CSV file of 3-D reference path data

• “Refer” checkbox on the waveform display panel for 3-D graph means display of 3-D
reference path.

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 • Miscellaneous display settings for 3-D reference path
data can be changed at the [3D-Ref] page in the display
setting panel for 3-D graph.

Setting item for reference path display

・ Color setting
・ Data range for display
・ Length of line segment for selection mode
・ Skip of tool vector display

• In order to perform color-coded display according to the

3-D path error to the reference path, select “Contour3D”
operation.
3-D path error will be calculated within the display range
of 3-D graph.
(3-D path error will be regarded as zero out of the display range)
Operation Input1 Input2 Remark
Countour3D CH(n) CH(n+2) 3-D path error to the reference path is
TCP:X TCP:Z displayed.
* Input1, 2: A series of three channel position data is necessary.
Example: (CH1, CH2, CH3), (TCP:X, TCP:Y, TCP:Z)

(5) Example

Magnifying display of path deviation (x10)

Reference path
(Programmed shape)

Path deviation

Feedback path

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Attachment 3: Improvement of Tuning Navigator

(1) Abstract
Spindle velocity gain tuning function (for Cs axis) is newly added to “Tuning Navigator”
which supports servo tuning by showing the tuning procedure in wizard style.

(2) Applicable software series / edition

SERVO GUIDE Edition 9.00 or later

Spindle control software Support of spindle tuning function for frequency response
measurement
9DA0/01 or later, 9D90/01 or later,
90D80/I(09) or later and its successor (9D8A),
9D70/M(13) or later and its successor (9D7A),
9D50/X(24) or later and its successor (9D5A),
9D53/M(13) or later and its successor (9D5D)

(3) Details
You can use “Gain-Tuning (Spindle)” as tuning item in the Tuning Navigator.
By operation according to the instruction on the screen, automatic tuning of spindle velocity
gain for Cs axis can be done.
At spindle velocity gain tuning wizard, initial frequency response measurement is executed
with standard velocity gain for Cs contour control mode where highest velocity gain is required,
and recommended velocity gain will be calculated from the frequency response. The velocity
gain of other control modes will be set to the value multiplied according to a fixed coefficient
(0.25~0.5) for each control mode to the velocity gain of Cs contour control mode.

[Tuning item selection]

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 [Spindle Gain tuning wizard]

You should select motor model to set standard velocity gain for Cs contour control mode

If you cannot find motor model at the table, please input the motor constant from datasheet.
(Standard velocity gain will be calculated from motor constant.)

Jm: Motor rotor inertia [kgm2]

Tmax: Short time rated torque × 1.2 [Nm], otherwise S2 or S3 rated output [kW] and base
speed [min-1]

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 Measurement at initial velocity gain (Standard velocity gain for Cs-mode)

Calculation of recommended velocity gain

Confirmation at recommended velocity gain (Overlay for each control mode)

Cs-mode

Servo-
mode
Velocity-
mode

Manual tuning of velocity gain

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Attachment 4: Addition of measurement data kinds in the Graph Window

(1) Abstract
We newly added the following data kinds in the Graph Window.
The data name and meaning are described to the tables as below.

[Servo]
• POSFN, POS3DN: Position feedback subtracting error compensation
(pitch error compensation, backlash compensation.)

[Spindle]
• CSPOSN, POS3DN: Position feedback subtracting error compensation
(pitch error compensation, backlash compensation.)
• MTPOS: Position feedback (motor sensor)

[Common power supply]

• PSPOW: Input power of PS

(2) Applicable software series / edition

SERVO GUIDE Edition 9.00 or later

Servo control software

Symbol Applicable software series / edition
POSFN, POS3DN 90G0/20 or later

Spindle control software

Symbol Applicable software series / edition
CSPOSN, POS3DN 9DA0/21 or later, 9D90/18 or later
MTPOS 9DA0/21 or later, 9D90/18 or later, 9D8A/06 or later,
9D7A/08 or later, 9D5A/19 or later, 9D5D/07 or later

Common power supply software

Symbol Applicable software series / edition
PSPOW 9G00/10 or later

Note)
The former version SERVO GUIDE (8.40 or before) can not read the graph data file
which includes additional data in this version, correctly.

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 (3) Waveform Example

• Position feedback without error compensation (pitch error compensation and backlash
compensation)

Circle with error compensation Circle without error compensation

(POSF, CSPOS2, POS3D) (POSFN, CSPOSN, POS3DN)

• Position feedback of separate spindle sensor (PCPOS) and position feedback of motor
sensor (MTPOS)

Motor speed
Spindle speed 500min-1/div

Spindle
position
(PCPOS) 1rev/div
(at spindle)
Motor
position
(MTPOS)

• Input power of PS (PSPOW)

10000min-1/div
Spindle speed
(SPSPD)

20kW/div
Input power of PS
(PSPOW)

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 Notice of the update of Servo Tuning Tool FANUC SERVO GUIDE

1. Type of applied documents

Name FANUC SERVO GUIDE OPERATOR’S MANUAL
Spec. No./Ver. B-65404EN/02

2. Summary of Change
Group Name / Outline New, Add Applicable
Correct, Del Date
Basic Function - Improvement of the ParameterWindow: Add 2013.09
Parameter screen for SERVO HRV+ Control
and Smart Backlash Compensation
- Addition of Smart Backlash Compensation Add 2013.09
parameter calculation support screen
- Addition of measurement data kind in the Add 2013.09
Graph Window
Optional
Function
Unit

Maintenance
Parts
Notice

Correction

Another - Windows 8 support

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 We report the update of Servo Tuning Tool “FANUC SERVO GUIDE”

1. Update Edition

Old edition New edition Operation environment

9.00 9.10 Windows® Personal Computer (PC/AT COMPATIBLE)

2. Contents of change

(1) Improvement of the ParameterWindow

Servo parameters for the SERVO HRV+ Control and the Smart Backlash Compensation function
had been supported at the ParameterWindow.
See attachment 1 for details.

(2) Addition of parameter calculation support screen for the Smart Backlash Compensation function
Parameter calculation support screen for the Smart Backlash Compensation function had been
added at the GraphWindow.
See attachment 2 for details.

(3) Addition of measurement data kinds in the Graph Window

See attachment 3 for details.

(4) Windows 8 has been supported.

Windows 8 (32bit / 64bit) had been added to the operation environment of SERVO GUIDE.

Note)
SERVO GUIDE runs at desktop mode of Windows 8

3. Attachment

Attachment 1: Improvement of the ParameterWindow

Attachment 2: Addition of parameter calculation support screen for the Smart Backlash
Compensation function
Attachment 3: Addition of measurement data kinds in the Graph Window

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Attachment 1: Improvement of the ParameterWindow

(1) Abstract
Servo parameters for the SERVO HRV+ Control and the Smart Backlash Compensation
function had been supported at the ParameterWindow.

(2) Applicable software

SERVO GUIDE Edition 9.10 or later

(3) Parameter screen example

Parameter screen of current loop control gain for the SERVO HRV+ Control and
parameter screen of the Smart Backlash Compensation function had been added.

Parameter group: Current Control – Current Gain (HRV+)

Parameter group: Smart backlash comp. – Smart backlash compensation

(4) Reference
Please refer to the technical reports (B-65270EN/08-005: Specifications for SERVO
HRV+ Control, B-65270EN/08-006: Specifications for Smart Backlash Compensation)
to know detail of these parameters.

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Attachment 2: Addition of parameter calculation support screen
for the Smart Backlash Compensation function

(1) Abstract
Parameter calculation support screen to get the two compensation coefficients for the
Smart Backlash Compensation function had been added at the GraphWindow.

(2) Applicable software series / edition

SERVO GUIDE Edition 9.10 or later

(3) Screen
When you select [SmartBacklashComp calc.] in [Tool] menu of the GraphWindow, the
following screen will be shown. And you can get the parameters of compensation
coefficients by press [Calc coef.] button with input of measurement data as follows:
backlash amount measured by the external instrument, estimated load torque data at
reverse point and etc. measured by SERVO GUIDE.

(4) Reference
Please refer to the technical report (B-65270EN/08-006) to know detail specification of the
Smart Backlash Compensation function. (That report is issued separately)

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Attachment 3: Addition of measurement data kinds in the Graph Window

(1) Abstract
We newly added the following data kinds in the Graph Window.
The data name and meaning are described to the tables as below.

[Servo]
• SMTBKL:
Position compensation amount of the Smart Backlash Compensation function
• SMTTRQ:
Estimated load torque data for tuning the Smart Backlash Compensation
function
• SCREWL:
Ball screw length data for tuning the Smart Backlash Compensation function
• DTRQAL:
Alarm detection level for unexpected disturbance torque detection function

(2) Applicable software series / edition

SERVO GUIDE Edition 9.10 or later

Servo control software

Symbol Applicable software series / edition
SMTBKL 30i/31i/32i-B:
SMTTRQ 90G0/22 or later, 90J0/01 or later, 90K0/01 or later
SCREWL
0i/0i Mate-D:
90C8/06 or later, 90E8/06 or later
DTRQAL 30i/31i/32i/35i-B, PowerMotion i-A:
90G0/22 or later, 90J0/01 or later, 90K0/01 or later
0i/0i Mate-D:
90C8/06 or later, 90E8/06 or later

Note)
The former version SERVO GUIDE (9.00 or before) can not read the graph data file
which includes additional data in this version, correctly.

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 Notice of the update of Servo Tuning Tool FANUC SERVO GUIDE

1. Type of applied documents

Name FANUC SERVO GUIDE OPERATOR’S MANUAL
Spec. No./Ver. B-65404EN/02

2. Summary of Change
Group Name / Outline New, Add Applicable
Correct, Del Date
Basic Function - Improvement of the frequency response Add 2014.01
measurement function
- Addition of measurement data kind in the Add 2014.01
Graph Window
Optional
Function
Unit

Maintenance
Parts
Notice

Correction

Another

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 We report the update of Servo Tuning Tool “FANUC SERVO GUIDE”

1. Update Edition

Old edition New edition Operation environment

9.10 9.20 Windows® Personal Computer (PC/AT COMPATIBLE)

2. Contents of change

(1) Improvement of the frequency response measurement function

Frequency response measurement function at the GraphWindow supports the high precision
measurement mode that improves the precision of frequency response measurement over the
1kHz frequency domain.
This function can be used for the tuning of Servo HRV+ Control.
See attachment 1 for details.

(2) Addition of measurement data kinds in the Graph Window

See attachment 2 for details.

3. Attachment

Attachment 1: Improvement of the frequency response measurement function

Attachment 2: Addition of measurement data kinds in the Graph Window

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Attachment 1: Improvement of the frequency response measurement
function

(1) Abstract
Frequency response measurement function in the GraphWindow had been supported the
“High precision mode” which improves the precision of frequency response measurement
particularly over the 1kHz frequency domain.
This function can be applicable for tuning of higher velocity control gain with HRV+ Control.

Note)
Frequency response measurement with “High precision mode” requires the longer
vibration time than the normal measurement (SingleSweep) to improve the precision of
frequency response measurement over the high frequency domain.
(It is approximately 3 or 4 times)

(2) Applicable software

SERVO GUIDE Edition 9.20 or later

Servo control software 90J0/03.0 or later, 90K0/03.0 or later

(for Series 30i-B) 90J3/03.0 or later (plan)

(3) Usage
The usage of high precision mode is as follows.

a) Select menu [Tool] → [Frequency Response] → [Measure – velocity loop]

at the GraphWindow.

b) Select the axis to measure the frequency response and press the [Detail] button

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 c) In the detail setting, select “High precision sweep” from sweep method.
(The setting is available only if servo control software supports high precision mode.)

(3)

(1)

(2)
[Detail setting] Changed items are described as follows.
Item Contents
Sweep Method SWEPT SIN: Old measurement mode (9096 series servo control software)
Single sweep: Normal measurement mode
High precision sweep: High precision measurement mode (1)
Sweep Freqency Set the maximum and minimum value of frequency to measure.
The actual vibration frequency is applied in unit of 1Hz at 1Hz - 10Hz and in unit of 5Hz
at 10Hz or upper.
Servo control software which supports high precision measurement mode can vibrate in (2)
1Hz at 10Hz or upper. (It is also available for normal mode.) * It requires longer time.
Other settings In case of using HRV3 or HRV4 Control, frequency response of high speed HRV mode
(3)
can be measured with the setting of force high speed HRV mode (No.2271#0=1)

d) Press [Start] button, then frequency response measurement will be performed with high
precision mode.

Note)
If frequency response measurement is performed with high precision mode, the special
word “HighPrecision” will be inserted in Comment 2 string. This word indicates the
measurement data with high precison mode. DO NOT modify or delete it.

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 (4) Example

Normal mode Measured up to 2kHz

High precision mode

Measured up to 3kHz

Improve precision of the

measurement over 1kHz

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Attachment 2: Addition of measurement data kinds in the Graph Window

(1) Abstract
We newly added the following data kinds in the Graph Window.
The data name and meaning are described to the tables as below.

[Common power supply]

• PSENGY: Electric energy of PS
• VDCCMD: DC-link voltage command
• VDCERR: DC-link voltage error
• IDCCMD: DC-link current command
• PSIDCM, PSIQCM: PS active current command / reactive current command
• PSIDFB, PSIQFB: PS active current / reactive current
• PSVCMD: Amplitude of voltage command of PS
• PSIFTH: Thermistor temperature of INPUT FILTER
• PSFLG5, PSFLG6, PSDGN: Maintenance data

(2) Applicable software series / edition

SERVO GUIDE Edition 9.20 or later

Common power supply software 9G00/12.0 or later

9G10/01.0 or later

Note)
The former version SERVO GUIDE (9.10 or before) can not read the graph data file
which includes additional data in this version, correctly.

(3) Waveform Example

• Electric energy of PS (PSENGY) and its differential (=electric power)

10000min-1/div Spindle speed

(SPSPD)
2kW/div
Electric energy of PS
(PSENGY)
5kW/div

Differential of PSENGY (=Electric power)

TITLE

Notice of the update of Servo Tuning

Tool FANUC SERVO GUIDE
DRAW. No.
01 14.01.07 Sugiyama Newly designed B-65404EN/02-006
CUST.

Design.
SHEET
Ed. Date Description 6/6
 Servo Tuning Tool FANUC SERVO GUIDE CNC information acquisition function

1. Type of applied documents

Name FANUC SERVO GUIDE OPERATOR’S MANUAL
Spec. No./Ver. B-65404EN/02

2. Summary of Change
Group Name / Outline New, Add Applicable
Correct, Del Date
Basic Function - CNC information acquisition function Add 2014.07

Optional
Function
Unit

Maintenance
Parts
Notice

Correction

Another

TITLE

FANUC SERVO GUIDE

CNC information acquisition function

01 14.07.30 Sugiyama Newly designed B-65404EN/02-007

DRAW. No. CUST.

Ed. Date Design. Description

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 Servo Tuning Tool FANUC SERVO GUIDE

CNC information acquisition function

Table of contents

1. Overview .............................................................................................................................3

2. Applicable software series / edition ................................................................................3

3. Specification.......................................................................................................................4

4. Channel setting (modified) ...............................................................................................5

5. Display setting for CNC information ...............................................................................6

6. Waveform example ............................................................................................................7

7. Limitations ..........................................................................................................................7

TITLE

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CNC information acquisition function

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CNC information acquisition function
1. Overview
CNC information acquisition function enables to measure CNC processing status, such as waiting for FIN or
sequence number (N number) in executing program, together with the data of servo / spindle axis or PMC signals.

2. Applicable software series / edition

SERVO GUIDE 9.40 or later

CNC system software

Series 30i -B G301,G311,G321/59.0 or later
Series 31i -B5 G421,G431 /59.0 or later
Series 31i -B G401,G411 /59.0 or later
Series 32i -B G501,G511 /59.0 or later
Series 35i -B G601,G611 (Edition undecided)
Series 31i -B(TransferLine) G441/07.0 or later
Series 32i -B(TransferLine) G541/07.0 or later
Series 35i -B(TransferLine) G641/07.0 or later
Series 0i -F Planned to be supported

OPEN CNC / FOCAS2 software (See note)

Grapich function (60VP) 60VP (Edition undecided)
Windows CE function f2is30.dll (Edition undecided)
Fast ethernet function (658K) 658K (Edition undecided)

Note
At July 2014, it is supported for Embedded Ethernet connection (LAN port (CD38A) or PCMCIA LAN).
However, following configurations are not supported yet.
• 10.4” color LCD B/C, 15” color LCD LAN port (CD38S) or PCMCIA LAN
• Windows CE personal computer function LAN port (CD38S) or PCMCIA LAN

And other connections except for Embedded Ethernet connection are not supported yet.
• HSSB connection Via HSSB interface (optical cable)
• Fast Ethernet connection Via LAN port of Multi-function Ethernet (CD38B)
Via LAN port of Fast Ethernet board (CD38R)

TITLE

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CNC information acquisition function

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3. Specification
The specification of CNC information acqusition is described as follows.

Item Contents
Channels (Total) Max 8 channels
Channels (CNC info.) Same as total channels (Max 8 channels)
Sampling cycle (CNC info.) 1~100msec (Sampling cycle is common to PMC singlal)
Update cycle 8msec or 4msec (It depends on CNC system confiiguration)
Channel setting method Setting by selecting the control path and data kind (as follows)
Channel setting: Select the control path to measure
Path number Path 1 Path 2 ~ Path 10
Select name NCPATH1 NCPATH2 ~ NCPATH10
Data kind: Select the data kind in selected control path.
Data name Contents Remarks
PRG_NO Program number (O number) Lower 16bit value (0～65535)
(The value of program filename is 0.)
SEQ_NO Sequence number (N numbr) Lower 16bit value (0～65535)
NCSTAT CNC operation status CNC operation status flag (as follows)

Detail of CNC operation status (NCSTAT)

Bit Item (Display symbol) Remarks
0 Aux function executing (M_CODE) Executing of M code = 1
1 Spindle function executing (S_CODE) Executing of S code = 1
2 Tool function executing (T_CODE) Executing of T code = 1
3 Aux 2/3/4 function executing (AUX_CODE) Executing of B/A/C code = 1
4 Positioning (POSITIONING) G00 cmd, R point movement (cannned cycle) = 1
5 Cutting feed (CUTTINGFEED) Cutting feed (G01, G02, G03 cmds) = 1
6 In-position check (INPOS_CHECK) In-position check of position error = 1
7 Dwell (DWELL) G04 cmd, operation in bottom hole (canned cycle) = 1
8 PMC axis executing (PMCAXIS) Executing of PMC axis control (ATC) = 1
9 Spindle speed arrival (SPDL_SARCHK) Waiting for spindle speed arrival = 1
10 Spindle orientation (SPDL_ORIENT) Executing of spindle orientation = 1
11 Waiting M code (WAITING_M_CODE) Waiting for M code = 1
12~15 (reserved) -

Note
When exporting to CSV file, NCSTAT is exported as a binary value which is synthesis of each bit .
0 1 9
(Ex: The case of Aux function + Spindle function + Spindle speed arrival is shown as 2 + 2 + 2 = 515.

TITLE

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CNC information acquisition function

01 14.07.30 Sugiyama Newly designed B-65404EN/02-007

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4. Channel setting (modified)
[Channel setting screen]
Set the sampling cycle by [Sampling(PMC/CNC)].
(The sampling cycle is common with the sampling cycle of PMC signal)

[Detail channel setting screen]

Specify the control path by selection of [Axis], and choose data kind of CNC information by selection of [Kind]

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CNC information acquisition function

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5. Display setting for CNC information
Special operations are prepared to display the waveform of CNC information for convenience.
For program number (PRG_NO), sequence number (SEQ_NO):
Number (O/N) operation: Number information is displayed by not waveform, but decimal number.
For CNC operation status (NCSTAT) :
Bit operation is available for displaying flag data. But the number of draws is lacking for diplaying the flag data
individually, then operation for multiple bits display are prepared as follows.
BitN operation: Multiple bits display (sequential bits from least significant bit).
BitX operation: Multiple bits display (selected bits)
Select the channel of flag data by Input1 and set the bit for display by Input 2

BitN BitX

Display of number information

Number(O/N) display
(PRG_NO, SEQ_NO)

BitN waveform
(NCSTAT)

BitX waveform
(NCSTAT)

Display the bit symbol of flag data

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6. Waveform example

2s/div

Spindle
speed

X,Y-axis
speed

Program
number
Sequence
number

CNC
operation
status

7. Limitations

Note
The former version SERVO GUIDE (9.10 or before) can not read the graph data file which includes additional
data in this function, correctly.

TITLE

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 Servo Tuning Tool FANUC SERVO GUIDE Waveform searching function

1. Type of applied documents

Name FANUC SERVO GUIDE OPERATOR’S MANUAL
Spec. No./Ver. B-65404EN/02

2. Summary of Change
Group Name / Outline New, Add Applicable
Correct, Del Date
Basic Function - Waveform searching function Add 2014.07

Optional
Function
Unit

Maintenance
Parts
Notice

Correction

Another

TITLE

FANUC SERVO GUIDE

Waveform searching function

01 14.07.30 Ogawa Newly designed B-65404EN/02-008

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Ed. Date Design. Description

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 Servo Tuning Tool FANUC SERVO GUIDE

Waveform Searching Function

Table of contents

1. Overview .............................................................................................................................3

2. Applicable software series / edition ................................................................................3

3. Basic operation ..................................................................................................................3

4. Search condition................................................................................................................6

5. Screen explanation ............................................................................................................8

TITLE

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Waveform searching function

01 14.07.30 Ogawa Newly designed B-65404EN/02-008

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Waveform Searching Function
1. Overview
Servo guide can acquire continuous waveform data files of long hours using both Automatic Saving Function and
Repeated Measurement Function (Note). Waveform Searching Function can find waveform matching specified
condition from waveform data files of long hours measurement saved in the same folder.

Peak

Long hours data

File 001 File 002 File 003
Search

Display for target waveform

Many data files
Note : Please see technical report ( B-65404EN/01-014) about Automatic Saving Function and Repeated
Measurement Function.

2. Applicable software series / edition

SERVO GUIDE 9.40 or later

3. Basic operation
Basic operation for Waveform Searching Function is as follows.

1. Press the “Search” button in the toolbar of the Graph Window to display the “Waveform data list” screen.

“Search” button

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Waveform searching function

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 2. GDT files in the specified folder are displayed on the “Waveform data list” screen. Press the “Select file” button to
change the specified folder.

3. Press the “waveform search” button in the “Waveform data list” to display the “search condtion setting” screen,
and set search condtion.
There are three selectable search conditions as follows.
1> Edge detection : Detecting rising or falling edge based on threshold.
2> Peak detection : Detecting upper peak or lower peak.
3> Value change : Detecting change point of value such as program number or sequence number.
Here, peak detection is selected as search condtion.
Please see Chapter 4. “Search condition” for more information.

Detecting width (msec)

Input data points.

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Waveform searching function

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 4. Press the “Search” button in the “search condition setting” screen after setting search condition. Waveform data
matching specified condtion is extracted from GDT files in the specified foder. Found waveform data are shown
in the “searching result list”.

Searching result list

5. Waveform matching specified condition is displayed by selecting (double-clicking) predetermined waveform data
from the “searching result list”.

>Search condition
Detecting lower peak
under detecting width
Lower peak 1000msec and displaying
lower peak at 38042msec.

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Waveform searching function

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4. Search condition
Search condtion is the following 3 conditions.

1. Edge detection
·Rising edge
Changing point from smaller than threshold (or equal to threshold) to larger than threshold, is detected as rising
edge.

·Falling edge
Changing point from larger than threshold (or equal to threshold) to smaller than threshold, is detected as falling
edge.
Rising edge Falling edge

Threshold Threshold

2. Peak detection
·Upper peak
Changing point from increasing to decreasing, is detected as upper peak.
In case that same value data continues, last data of them is detected.
·Lower peak
Changing point from decreasing to increasing, is detected as upper peak.
In case that same value data continues, last data of them is detected.

Upper peak Lower peak

Up Down

Down Up

When detecting width is set, maximum upper peak (or minimum lower peak) in detecting width, is detected.

Detecting width

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Waveform searching function

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 When filter is set, waveform is detected by moving average of it.

Upper or lower peak is detected with data after moving average processing. Therefore, detected peak position and
displayed peak position is not always same position.

5000
4000
3000
2000
1000 Moving average line
0
-1000 Filter (1000msec)
-2000
-3000
-4000
-5000
1500 3500 5500 7500
msec

3. Value changing
Value changing point is detected.
When this searching condition is applied to program number, starting point of each program is detected.

Value change of sequence number Value change of program number

Value changing Value changing

point point

Note
Please see technical report ( B-65404EN/02-007) about CNC software version that supports observation of
program number and sequence number.

TITLE

FANUC SERVO GUIDE

Waveform searching function

01 14.07.30 Ogawa Newly designed B-65404EN/02-008

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5. Screen explanation
“Waveform data list” screen

(1)
(2) (3) (4)

(5)

(6)

(7)

Item Description
(1) Folder Folder is displayed, in which displayed waveform data file is saved.
(2) Displayed scale priority When displayed waveform file is changed, it is displayed in present scale setting.
In case of different scale setting of saved file, scale setting might be changed.
(3) Select file Select file to display waveform in the Graph Window.
(4) refresh Contents of Waveform data is refreshed.
(5) waveform data list Waveform data file in specified folder is displayed in list.
(6) waveform search The “search condition setting” screen is displayed to search waveform.
Specified condition is displayed in edit box.
Searching result is displayed in “searching result list”.
(7) searching result list Searching result list is displayed.
Select searching result, found waveform is displayed in the Graph Wndow.

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Waveform searching function

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 “search condition setting” screen

(1) (2)

(3)
(4) (5) (6)
(7)

(8)
(10) (11)
(9)
(12)
(13)

(14)

(15)

Item Description
(1) Draw Searching target is “Draw” displayed in the Graph Window.Select “Draw” for searching.
(2) Operation Operation of selected “Draw” is displayed.
(3) Edge detection Edge detection is selected as detecting method.
(4) Rising edge It is possible to detect rising edge by threshold value.
(5) Falling edge It is possible to detect falling edge by threshold value.
(6) Both It is possible to detect rising edge and falling edge by threshold value.
(7) Threshold Threshold of edge detection is set.
(8) Peak detection Peak detection is selected as detecting method.
(9) Upper peak Upper peak is detected.
(10) Lower peak Lower peak is detected.
(11) Both Upper peak and lower peak is detected.
(12) Detecting width Detecting width is set.
(13) filter When filter is set, waveform is detected by moving average of it.Upper or lower peak is
detected with data after moving average processing. Therefore, detected peak position
and displayed peak position is not always same position.
(14) Value change Value changing point is detected. When this searching condition is applied to progoram
number, starting point of each program is detected.
(15) Search Search is executed under predetermined conditions.

TITLE

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Waveform searching function

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 Notice of the update of Servo Tuning Tool FANUC SERVO GUIDE

1. Type of applied documents

Name FANUC SERVO GUIDE OPERATOR’S MANUAL
Spec. No./Ver. B-65404EN/02

2. Summary of Change
Group Name / Outline New, Add Applicable
Correct, Del Date
Basic Function - Waveform searching function Add 2014.07
- CNC information acquisition function Add 2014.07
- Tuning assist screen of rigid tapping Add 2014.07
acceleration / deceleration
- Improvement of the ParameterWindow Add 2014.07
Optional
Function
Unit

Maintenance
Parts
Notice

Correction

Another - Introduction of the serial number, addition of Add 2014.08

the new packages

TITLE

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 We report the update of Servo Tuning Tool “FANUC SERVO GUIDE”

1. Update Edition

New edition Operation environment

9.40 Windows® Personal Computer (PC/AT COMPATIBLE)

2. Contents of change

(1) Introduction of the serial number and addition of the new packages
The serial number had been introduced for the newly purchase package of SERVO GUIDE.
At newly install, the input of a serial number that is attached to the package will be required.
Former software already installed to PC can be updated without the input of a serial number.
And the new packages licensed to install the plural PC had been added.
See attachment 1 for details.

(2) Addition of waveform searching function

Waveform searching function can find waveform matching specified condition from waveform data
files of long hours measurement saved in the same folder. Refer to the technical report
(B-65404EN/02-008) for details.
In addition, cursor function had been changed and main/zoom display function had been added to
the GraphWindow.
See attachment 2 for details.

(3) Addition of CNC information acquisition function

CNC processing status, such as waiting for FIN or sequence number (N number) in executing
program can be measured together with the data of servo / spindle axis or PMC signals.
Refer to the technical report (B-65404EN/02-007) for details.

(4) Addition of tuning assist screen for the rigid tapping acceleration / deceleration
The tuning assist screen for the rigid tapping acceleration / deceleration had been added to support
optimizing of maximum speed and time constant at normal rigid tapping and parameter setting of
optimum acc./dec. for rigid tapping based on the actual measurement of the spindle speed at
acceleration / deceleration
See attachment 3 for details.
Refer to the technical report (B-65404EN/02-009) for details.

(5) Improvement of the Parameter Window

Parameter screen for FSSB high-speed rigid tapping and parameter screen for optimum
acceleration / deceleration for rigid tapping had been added.
See attachment 4 for details.

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 3. Attachment

Attachment 1: Introduction of the serial number and addition of the new packages
Attachment 2: Improvement of the Graph Window
Attachment 3: Addition of tuning assist screen for the rigid tapping acceleration /
deceleration
Attachment 4: Improvement of the Parameter Window

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Attachment 1: Introduction of the serial number and addition of the new
packages

(1) Abstract
The serial number had been introduced for the newly purchase package of SERVO GUIDE.
At newly install, the input of a serial number that is attached to the package will be required.
Former software already installed to PC can be updated without the input of a serial number.
And the new packages licensed to install the plural PC had been added.

(2) Contents
Each package is listed below.
Name Specification Explanation
Single license for 1 PC (Current)
FANUC SERVO GUIDE A08B-9010-J900
(One serial number is attached.)
FANUC SERVO GUIDE Multi-user license for a maximum of 10 PCs
A08B-9010-J910
(10 users) (10 serial numbers are attached.)
FANUC SERVO GUIDE Multi-user license for a maximum of 20 PCs
A08B-9010-J920
(20 users) (20 serial numbers are attached.)
FANUC SERVO GUIDE Site license for PCs in single facility
A08B-9010-J930
(Site license) (One serial number for site license is attached.)
FANUC SERVO GUIDE
A08B-9010-J919 Update for already purchased software
(Update)
FANUC SERVO GUIDE Upgrade for J900 (Current)
A08B-9010-J901
(Upgrade) Please order J919 instead of J901 from now on.

Note
1 In case of A08B-9010-J900, J910, J920
You may use the Software on one computer per one serial number, which serial number is attached to the
Software. In case you will use the Software upon the plural number of computers, the same number of
license to use the Software as that of the computers on which you will use the Software shall be required
even though you will not use the Software simultaneously. In case you will use the Software by loading it
into temporary memories of plural number of computers through the network, the same number of license to
use the Software as that of the computers on which you will use the Software shall be required. You may
make one copy of the Software solely for backup or archival purposes.
In case of A08B-9010-J930
You may use the Software on the unlimited number of computers located in a single facility or factory of a
single entity. You may make one copy of the Software solely for backup or archival purposes.
In case of A08B-9010-J919
You may use the Software to update the old version of the Software that you have already been granted to
use, regardless of the number of computers to be updated, and may use the updated software on the same
conditions as before. You may make one copy of the Software solely for backup or archival purposes.
2 A08B-9010-J919 can update installed A08B-9010-J900, J910, J920, and J930

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Attachment 2: Improvement of the GraphWindow

(1) Abstract
The GraphWindow had been improved as follows because of addition of the waveform
searching function.
• Modification of the cursor function
• Addition of Main/Zoom display function

(2) Applicable software

SERVO GUIDE Edition 9.40 or later

(3) Changes
Additional buttons of tool bar
The change of the GraphWindow
← [Waveform search]
↑ ↑
↑ [Overlay View] (existing)
[Graph Area] [Main/Zoom display]

Horizontal cursor
information
(at draw selecting ) Horizontal cursor
Vertical cursor

Vertical cursor
information Waveform
information

a) Modification of cursor function

Former) Display differential value between cursor A and B

Position of Cursor A and Cursor B cannot be exchanged.
Cursor position limited in the frame of the Graph Area
Cursor information is displayed at lower right.
Cursor information is displayed in the box frame.

New) Display values of cursor A, B and differential value between A and B

Position of Cursor A and Cursor B can be exchanged.
Cursor position NOT limited in the frame of the Graph Area
Cursor information is displayed at upper left and lower left.
Cursor information is displayed without the box frame.

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 Addition of following mode to the cursor function
In following mode, horizontal cursor can follow the intersection point of selected
vertical cursor and selected Draw at Y-Time mode. When a draw is selected, select
vertical cursor with pressing [Ctrl] key to enter the following mode.
In following mode, vertical cursor is displayed by bold dashed line, and  will be
displayed at intersection point of vertical cursor and selected Draw. The horizontal
cursor follows the intersection point.

Intersection point of vertical cursor and selected Draw

Horizontal cursor follows intersection point.

b) Addition of Main/Zoom display function

In Y-Time mode, the Graph Area can be divided to upper and lower graph to display
whole of waveform and a part of it at the same time.
Upper graph is called "Main view", and lower one is "Zoom view" that displays a part of
waveform in main view.

Main View

Zoom View

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Attachment 3: Addition of tuning assist screen for the rigid tapping
acceleration / deceleration

(1) Abstract
The tuning assist screen for the rigid tapping acceleration / deceleration based on the actual
measurement of the spindle speed at acceleration / deceleration had been added.
1. Optimizing support of maximum speed and time constant at normal rigid tapping
2. Parameter setting support of the optimum acc./dec. function for rigid tapping (option)

Normal rigid tapping Optimum acc./dec. for rigid tapping

Show the optimum speed and time constant Acceleration pattern setting support
at practical thread number (20 ~ 25rev) of
rigid tapping
(2) Applicable software
SERVO GUIDE Edition 9.40 or later

(3) Usage (simplified)

1. Initial setting of rigid tapping parameters
To know details of setting parameter, refer to the spindle parameter manual
(B-65280EN) or the technical document “Tuning way for FSSB High Speed Rigid Tap”
(B-65280EN/08-01).
2. Execute the spindle acceleration / deceleration operation at the velocity control mode
and measure the spindle speed data (SPSPD).
Take care of the following points at this time to get the accurate characteristic of
spindle acceleration /deceleration of rigid tapping operation mode.

Note
1 The setting of motor voltage at velocity control mode (No.4083 etc) should be set to the setting
value of the voltage at rigid tapping mode (No.4085 etc).
2 Spindle acceleration should be started after waiting of motor excitation time (about 0.5 sec ).
- Sychronous spindle motor doesn’t require the above points.

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 3. Show the one of the following tuning assist screen by selecting [Rigid tapping tuning]
menu in the [Tool] menu of the GraphWindow.
• Normal rigid tapping acc./dec.
• Optimum acc./dec. for rigid tapping [option]

4. By using the tuning assist screen, calculate the parameters for rigid tapping
acceleration / deceleration based on the actual spindle acceleration characteristic.

5. Measure the torque command (TCMD) rigid tapping and the synchronization error
(SYNC) at the actual rigid tapping operation and make the fine tuning of the
parameters for rigid tapping acceleration / deceleration.
To know details of tuning parameters, refer to the spindle parameter manual
(B-65280EN) or the technical document “Tuning way for FSSB High Speed Rigid Tap”
(B-65280EN/08-01).

(4) Explanation of the tuning assist screen

[Normal rigid tapping acceleration/deceleration]
Show the optimum setting values to the thread number list
[Display graph]
Show the spindle acceleration characteristic
from spindle speed (SPSPD) of the actual
acceleration / deceleration waveform to the
speed-acceleration graph.
Acc. Margin
Set the cutting margin for rigid acceleration.
FSSB high-speed rigid tapping: 5~10%
Conventional type rigid tapping: 20~30%
[Calc. time]
Calculate the optimum setting value of
maximum speed and time constant based on
the specified thread number and the actual
spindle acceleration characteristic.
(Default value of thread number is 25 rev.)

Optimum setting list depending on the number of threads

(Thread number list can be changed by right-click menu.)

Note
1 Tuning assist screen doesn’t calculate the bell time constant. If the bell-shaped acc./dec. is avaiable, set the
bell time to 16~32ms according to the shock of rigid tapping acceleration/deceleration.
2 Refer to the explanation of “Optimization of rigid tapping parameters“ chapter in the technical document
“Parameter Settings Which are Effective to Shorten Positioning and Cutting” (A-81017-079EN).

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 [Optimum acceleration/deceleration for rigid tapping]
Show the acceleration setting list of the optimum acceleration / deceleration.
[Display graph]
Show the spindle acceleration characteristic
from spindle speed (SPSPD) of the actual
acceleration / deceleration waveform to the
speed-acceleration graph.
Acc. Margin
Set the cutting margin for rigid acceleration.
FSSB high-speed rigid tapping: 5~10%
Conventional type rigid tapping: 20~30%
[Calc. setting]
After manual input of maximum speed,
calculate setting value for the optimum
acceleration/deceleration for rigid tapping
automatically.

Speed-acceleration setting list for optimum acc./dec.

Setting value is reflected to the setting pattern of
speed-acceleration graph.

Note
Tuning assist screen doesn’t calculate the bell time constant. Set the bell time to 16~32ms according to the
shock of rigid tapping acceleration/deceleration.

TITLE

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Attachment 4: Improvement of the ParameterWindow

(1) Abstract
Parameters for FSSB high-speed rigid tapping and Optimum acceleration / deceleration for
rigid tapping had been supported at the ParameterWindow.

(2) Applicable software

SERVO GUIDE Edition 9.40 or later

(3) Parameter screen example

Parameter screen for FSSB high-speed rigid tapping (servo axis and spindle axis) and
parameter screen for optimum acceleration / deceleration for rigid tapping had been
added.

FSSB high-speed rigid tapping

Optimum acceleration / deceleration for rigid tapping

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 Servo Tuning Tool FANUC SERVO GUIDE - Extension of PMC signal acquisition function

1. Type of applied documents

Name FANUC SERVO GUIDE OPERATOR’S MANUAL
Spec. No./Ver. B-65404EN/02

2. Summary of Change
Group Name / Outline New, Add Applicable
Correct, Del Date
Basic Function - Extension of PMC signal acquisition function Add 2014.10

Optional
Function
Unit

Maintenance
Parts
Notice

Correction

Another

TITLE

FANUC SERVO GUIDE

CNC information acquisition function

01 14.10.01 Sugiyama Newly designed B-65404EN/02-010

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FANUC CORPORATION 1/7
 Servo Tuning Tool FANUC SERVO GUIDE

Extension of PMC signal acquisition function

Table of contents

1. Overview .............................................................................................................................3

2. Applicable software series / edition ................................................................................3

3. Specification.......................................................................................................................4

4. Channel setting (modified) ...............................................................................................4

5. Display setting for CNC information ...............................................................................6

6. Waveform example ............................................................................................................7

7. Limitations ..........................................................................................................................7

TITLE

FANUC SERVO GUIDE

CNC information acquisition function

01 14.10.01 Sugiyama Newly designed B-65404EN/02-010

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Extenstion of PMC signal acquisition function
1. Overview
Byte type PMC signal (8bits) or Word-type PMC signal (16bit) can be measured with PMC signal acquisition function
in SERVO GUIDE. Also, bit type PMC singal can be measured (max 8points) at the same time.
Total channel is max 8 channel for servo axis, spindle axis, CNC information, and PMC signals. (Same as before)
This extension enables the measurement of three-directional shock data from the SHOCK SENSOR of the multi
sensor unit at once, for example.

2. Applicable software series / edition

SERVO GUIDE 10.00 or later

Note
It is necessary to use the related softwares for using this extenstion of PMC signal acquisition function.
Series 30i/31i/32i -B softwares : End of October, 2014 (Plan)
Series 0i -F softwares : End of September, 2014

CNC system software

Series 30i -B G301,G311,G321/62.0 or later (Plan)
Series 31i -B5 G421,G431 /62.0 or later (Plan)
Series 31i -B G401,G411 /62.0 or later (Plan)
Series 32i -B G501,G511 /62.0 or later (Plan)
Series 0i -MF D4G1/02.0 or later
Series 0i -TF D6G1/02.0 or later

OPEN CNC / FOCAS2 software (See note)

Grapich function (60VP) 60VP/13 or later (Plan)
Grapich function (60VS) 60VS/03 or later (Plan)
Windows CE function f2is30.dll, focas2is.dll Edition 2.7 or later (Plan)
Fast ethernet function (658K) 658K/15 or later (Plan: End of Dec. 2014)

TITLE

FANUC SERVO GUIDE

CNC information acquisition function

01 14.10.01 Sugiyama Newly designed B-65404EN/02-010

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3. Specification
The specification of the extension of PMC signal acquisition function is described as follows.

Item Contents
Channels (Total) Max 8 channels (Servo, Spindle, CNC information, PMC signal)

Channels Max 8 channels

(PMC byte or word signal) (Max 7 channels when PMC bit signal is measured at the same time)
Channels 1 channel, Max 16 points
(PMC bit signal) (Max 8 points when PMC byte or word signal is measured at the same time)
Acquisition cycle of 8msec or 4msec (Depends on CNC system confiiguration)
PMC signal data (Sampling cycle setting is 1 ~ 100msec)
Available PMC signal Signal address: G, F, X, Y, A, R, T, K, C, D, M, N, E, Z
Signal range: Depends on PMC type and memory type

Selection of PMC singnal data type for measuring

Item Signal data type Signal address setting (*)
PMCW(-125) PMC word singnal (16bits) Set word address of PMC signal
Example: X0008 (X0008.0 ~ X0009.7 is measured)
PMCB(-126) PMC byte singnal (8bits) Set byte address of PMC signal
Example: X0008 (X0008.0 ~ X0008.7 is measured)
PMC(-127) PMC bit signal Set bit address of PMC signal
Example: X0008.4
*) Symbol can be added after the signal address setting. (Input a symbol after 1 space character.)

4. Channel setting
[Channel setting screen] [Detail channel setting screen]

Choose PMC signal type for measuring

PMCW (-125): PMC word signal
PMCB (-126): PMC byte signal
Set sampling cycle for PMC signals PMC (-127): PMC bit signal
(Note: NOT means data acquisition cycle)

TITLE

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CNC information acquisition function

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Measurement setting for PMC word signal

Axis: Select PMCW (-125)

Kind: Select sign extension method
Conversions: Use if necessary
Signal address: Set word address

Symbol Contents Remarks

WORD Unsigned 16 bit data Unsigned 16bit value (0～65535)
ALG16 16bit analog input data Signed 16bit value (-32768～+32767)
In case of X0008, sign bit is X0009.7
ALG12 12bit analog input data Signed 12bit value (-2048～+2047)
In case of X0008, sign bit is X0009.3
(Upper bits are masked for sign-extension)
SHOCK Shock sensor data Setting for shock sensor in the Multi-Sensor-unit
(Unsigned 11 bit value) (Upper bits are masked to 0)
TEMP Temperature sensor data Setting for temperature sensor in the Multi-Sensor-unit
(Signed 12 bit value) (Upper bits are masked for sign-extension)

Measurement setting for PMC byte signal

Axis: Select PMCB (-125)

Kind: Select sign extension method
Conversions: Use if necessary
Signal address: Set byte address

Symbol Contents Remarks

BYTE Unsigned 8 bit data Unsigned 8bit value (0～255)
ALG08 8bit analog data Signed 8bit value (-128～+127)
In case of X0008, sign bit is X0008.7

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CNC information acquisition function

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Measurement setting for PMC bit signal (conventional)

Axis: Select PMC (-127)

Kind: Not used (“PMC” only)
Conversions: Not used (Fixed to 1)
Signal address:
Set bit address to the list

5. Display setting
The waveform of PMC byte or word signal can be displayed with YT operations at Y-Time mode.
And, special operations are added to display the number data of PMC signal.
Number (PMC): PMC signal data is displayed as
unsigned decimal number (0 to 65535).
Number (PMCsgn) : PMC signal data is displayed as
signed decimal number (-32768 to +32767).

Select the channel of PMC signal by Input1 and set the bit length for
display by Input 2. (Max 16bits)

The operation can be used to display the number data of PMC data
like the tool number.
Signal address will be displayed at the left label (see right figure).
If you had set a symbol after the signal address setting, then the
label will be displayed as “Symbol (Signal address)” format.

TITLE

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CNC information acquisition function

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6. Waveform example

200ms/div

Servo
POSF

WordBit-type
PMC signal

SHOCK signals
CH1: axis1
CH1: axis2
CH1: axis3

Bit-type
PMC signal

7. Limitations

NOTE
The former version SERVO GUIDE (9.40 or before) can not read the graph data file which includes additional
data in this function, correctly.

Note
Acquisition cycle of PMC signal data depends on CNC system configration and unchangeable.
Then, if SHOCK SENSOR of multi sensor unit is used under high-speed scan mode (Hold time 2ms) or scan
mode (Hold time 4ms), the timing to lose a shock peak value may occurs.
(When acquisition cycle time of PMC singlal data is longer than hold time of peak value, the timing to lose a peak
value occurs.)

TITLE

FANUC SERVO GUIDE

CNC information acquisition function

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 Notice of the update of Servo Tuning Tool FANUC SERVO GUIDE

1. Type of applied documents

Name FANUC SERVO GUIDE OPERATOR’S MANUAL
Spec. No./Ver. B-65404EN/02

2. Summary of Change
Group Name / Outline New, Add Applicable
Correct, Del Date
Basic Function - Support of Series 0i - MODEL F Add 2014.10
- Extension of PMC signal acquisition function Add 2014.10

Optional
Function
Unit

Maintenance
Parts
Notice

Correction

Another

TITLE

Notice of the update of Servo Tuning

Tool FANUC SERVO GUIDE
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 We report the update of Servo Tuning Tool “FANUC SERVO GUIDE”

1. Update Edition

New edition Operation environment

10.00 Windows® Personal Computer (PC/AT COMPATIBLE)

2. Contents of change

(1) Support of Series 0i - MODEL F

SERVO GUIDE can be used for Series 0i - MODEL F.
See attachment 1 for details.

(2) Extension of PMC signal acquisition function

PMC byte signal (8bit) and PMC word signal (16bit) can be can be measured together with the
data of servo / spindle axis or PMC bit signals.
Refer to the technical report (B-65404EN/02-010) for details.

3. Attachment
Attachment 1: Support of Series 0i - MODEL F

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Attachment 1: Support of Series 0i-MODEL F

(1) Abstract
SERVO GUIDE can be used for Series 0i - MODEL F.

(2) Applicable software

SERVO GUIDE Edition 10.00 or later

CNC software
Series 0i-MF D4G1/02 or later
Series 0i-TF D6G1/02 or later

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 Notice of the update of Servo Tuning Tool FANUC SERVO GUIDE

1. Type of applied documents

Name FANUC SERVO GUIDE OPERATOR’S MANUAL
Spec. No./Ver. B-65404EN/02

2. Summary of Change
Group Name / Outline New, Add Applicable
Correct, Del Date
Basic Function - Support of DSA – B Add 2015.01
- Display problem of ParameterWindow (0i -F) Correct 2015.01
- Improvement of ProgramWindow Add 2015.01
Optional
Function
Unit

Maintenance
Parts
Notice

Correction

Another

TITLE

Notice of the update of Servo Tuning

Tool FANUC SERVO GUIDE
01 15.01.09 Sugiyama Newly designed B-65404EN/02-012
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 We report the update of Servo Tuning Tool “FANUC SERVO GUIDE”

1. Update Edition

New edition Operation environment

10.10 Windows® Personal Computer (PC/AT COMPATIBLE)

2. Contents of change

(1) Support of DSA-B

Digital Servo Adapter - MODEL B (DSA-B) had been supported.
See attachment 1 for details.

(2) Display problem of the ParameterWindow with Series 0i - F

In case of using the ParameterWindow with the parameter of Series 0i -F at SERVO GUIDE
edition 10.00, parameter screens of the unexpected disturbance detection and the spindle
orientation are not displayed correctly. This problem had been corrected.
(* This problem occurs with Series 0i -F parameter only.)
See attachment 2 for details.

(3) Improvement of the ProgramWindow

New kind of test programs had been added to the ProgramWindow.
See attachment 3 for details.

3. Attachment
Attachment 1: Support of DSA-B
Attachment 2: Display problem of the ParameterWindow with Series 0i - F
Attachment 3: Improvement of the ProgramWindow

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Attachment 1: Support of DSA-B

(1) Abstract
Digital Servo Adapter - MODEL B had been supported.

(2) Applicable software

SERVO GUIDE Edition 10.10 or later

System software of DSA-B

Pulse input interface / Analog voltage input interface 881S/01.0 or later
EtherCAT interface 881R/01.0 or later
EtherCAT interface for spindle 881T/01.0 or later

(3) Connection
DSA- B is available only with embedded ethernet connection. (PCMCIA- LAN card is not
available)
Because DSA does not have a display unit, one PC connected with ethernet will be used for
display unit for DSA.
And DSA has a fixed setting value of IP address and subnet mask and TCP port number, then
PC side setting value of IP address and subnet mask should be changed the properly.

Setting of DSA
IP address 192.168.1.10
Subnet mask 255.255.255.0
TCP port number 8193

Setting of PC
IP address 192.168.1.xxx
Subnet mask 255.255.255.0
xxx = 1~9, 11~254

Note)
In case of using the BOOT/IPL function (SRAM backup, or etc.) with Ethernet Display
function, IP address setting of PC must be set to 192.168.1.200
Please see the connection manual of DSA-B (A-40738) for details.

(4) Limitation
In case of DSA- B, ProgramWindow and Tuning Navigator are not available.

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Attachment 2: Display problem of the ParameterWindow with Series 0i- F

(1) Abstract
SERVO GUIDE edition 10.00 has a display problem of Parameter Window. A few of parameter
screens are not displayed correctly. This problem had been corrected.
(* This problem occurs in case of Series 0i - F parameter only.)
If you have the target software and use these screens of the ParameterWindow, please make
contact with servo software development department of Servo Laboratory.

(2) Problem
In case of Series 0i - F, parameter screens of the unexpected disturbance detection in Servo group
and the spindle orientation in Spindle group are shown as an invalid display.

[Servo: Unexpected disturbance detection] [Spindle: Spindle orientation]

Invalid display with Series 0i -F parameter

(3) Target software edition and condition

This problem occurs in the following software edition and condition.
• SERVO GUIDE Edition 10.00
• Using with Series 0i - F parameter

(4) Modified software edition

SERVO GUIDE Edition 10.10 or later

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Attachment 3: Improvement of the ProgramWindow

(1) Abstract
New kind of test programs had been added to the ProgramWindow, as shown below.
• Diamond program
• Diamond with 1/4 Arc
In case of conventional test program “Square program” or “Square with 1/4 Arc”, only one axis
is moving on the straight-line section. But practical machining program often includes two or
more axes simultaneous interpolation. Therefore, new kind of test programs had been added,
which are useful for checking the path precision during 2 axes simultaneous interpolation.

(2) Applicable software

SERVO GUIDE Edition 10.10 or later

(3) Screen example

Add items

Rotating direction
of test program

[Diamond] [Diamond with 1/4Arc]

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B-65404EN/02 INDEX

INDEX
FUNCTION CORRESPONDENCE TABLE ..............272
<A>
Additional Information about Ethernet Connection .......25 <G>
ANALYSIS OF VIBRATION FREQUENCY Gain-Tuning.................................................................149
DURING FEED AT CONSTANT FEEDRATE ......250 GENERAL TROUBLE SHOOTING...........................267
Applicable CNC Models ..................................................3 GENERAL WARNINGS AND CAUTIONS ............... s-1
AREA EXPANDING FUNCTION................................93 GRAPH WINDOW.................................................36,268
Automatic Filter-Tuning ..............................................141
Automatic Saving of Measurement Data .....................113 <H>
Available Data at I/O Link βi Axes................................72 High-speed and High-precision Tuning .......................165
Available Data at Servo Axes ........................................60
Available Data at Spindle Axes .....................................63 <I>
Available Operations......................................................74 I/O Link βi Axis Measurement ......................................58
IFC Gain-Tuning..........................................................182
<B> Initial Gain-Tuning ......................................................133
Backlash Acceleration Tuning .....................................149 Initial Status of Cursor-Related Control.......................120
Basic Graph Mode..........................................................73 INSTALLATION AND UNINSTALLATION................9
Installation Procedure ......................................................9
<C> Installing the Upgrading Version ...................................10
CHANNEL SETTING ...................................................45
Channel Setting Procedure .............................................48 <L>
CIRCLE MEASUREMENT FOR AN ANGULAR Limitation of Measurement..........................................117
AXIS.........................................................................214 LINEAR MOTOR SMOOTHING COMPENSATION257
CONCRETE EXAMPLES...........................................199 Load Reference Path ......................................................76
Connection ................................................................11,26
CONNECTION AND COMMUNICATION WITH <M>
THE CNC...................................................................11 MAIN BAR....................................................................27
CONTENTS OF THE PRODUCT PACKAGE ......... p-12 MAIN BAR STRUCTURE............................................27
CONTOUR ERROR TUNING BY CIRCLE PATH Measurement........ 204,210,217,223,230,237,244,253,256
MEASUREMENT....................................................207 Measurement and Parameter setting ............................260
CURSOR FUNCTION...................................................90 Measurement Data Time Shift .....................................116
Cursor Function (Bode)..................................................92 Measurement Data Value Scaling ................................114
Cursor Function (Fourier) ..............................................91 Measurement of Acceleration/Deceleration
Cursor Function (XY) ....................................................91 Performance ...............................................................95
Cursor Function (Y-Time) .............................................90 Measurement of Orientation ........................................101
Cursor Operation Procedure...........................................92 MEASUREMENT OF THE VELOCITY LOOP
Cursor Positions after the Graph Is Expanded or Shrunk FREQUENCY RESPONSE OF A SERVO AXIS ...255
..................................................................................119 MENU..................................................................... 40,124

<D> <N>
Deleting Setting Information..........................................10 Name and Function of Each Section of the Channel
Setting Screen.............................................................46
<E> Name and Function of Each Section of the Measure
EASY GRAPH MODE ..................................................81 Setting Screen.............................................................45
ENVIRONMENT ............................................................3 Necessary Hardware and Software Configuration ...........4
EXPLANATION OF THE MENU ...........................28,32 NOTATION CONVENTIONS.................................... p-2

<F> <O>
FEATURES OF SERVO GUIDE ................................ p-3 OPERATION SETTING ...............................................73
Filter-Tuning ................................................................190 ORGANIZATION OF THIS MANUAL ..................... p-1
Frequency Analysis (Fourier Transformation) Display OVERVIEW .......................................... 29,37,77,122,131
Mode ..........................................................................82
Frequency Response (Bode Diagram) Display Mode ....83 <P>
Frequency Response (Position Loop).............................85 PARAMETER WINDOW ......................................29,267
Frequency Response (Velocity Loop)............................83 PMC Signal Measurement .............................................53
Frequency Response Measurement ..............................107 PREFACE .................................................................... p-1
i-1
INDEX B-65404EN/02

Preparation for Measurement202,209,216,222,229,236,243,252,255,259 <V>

Preparation on CNC .....................................................234 Values Displayed in the Waveform Information Box ..118
Procedure .......................................................................73 VIA ETHERNET...........................................................11
PROGRAM WINDOW.........................................122,269 VIA HSSB .....................................................................26

<R> <W>
Related Software Series / Edition List .............................6 WARNINGS AND CAUTIONS RELATING TO
SERVO GUIDE ........................................................ s-2
<S>
SAFETY PRECAUTIONS ...........................................s-1
Scale (Bode)...................................................................80
Scale (Circle)..................................................................79
Scale (Fourier)................................................................80
Scale (XY)......................................................................78
Scale (Y-Time)...............................................................77
SCALE SETTING .........................................................77
SERVO AXIS TUNING ..............................................133
Setting of CNC...............................................................19
Setting of PC ..................................................................12
Setting of SERVO GUIDE........................................25,26
Setting of Unit................................................................76
SETUP .............................................................................3
SHORTCUT...................................................................44
Smooth Compensation Setting Support..........................88
SOFTWARE CORRESPONDENCE TABLE BY
FUNCTION..............................................................272
SPECIAL GRAPH DISPLAY MODES.........................82
SPINDLE AXIS TUNING...........................................190
SPINDLE TUNING ................................................94,271
SUPPLEMENTARY INFORMATION .......................113

<T>
Test Program ........ 200,207,214,220,227,234,241,250,257
Tolerance Setting of Reference Data for Circular
Interpolation .............................................................120
TOOL.............................................................................83
TOOL BAR.............................................................42,126
Trigger Setting ...............................................................51
TROUBLESHOOTING ...............................................267
TUNING NAVIGATOR.......................................130,270
TUNING OF CONTOUR ERROR BY MEASURING
A Cs CONTOUR CONTROL PATH.......................241
TUNING OF OVERSHOOTS BY MEASURING A
SQUARE PATH.......................................................220
TUNING OF OVERSHOOTS BY MEASURING A
SQUARE PATH WITH ROUNDED CORNERS....227
Tuning of Parameters ................ 205,212,225,232,239,248
TUNING OF RIGID TAPPING SYNCHRONOUS
ERROR.....................................................................234
TUNING OF THE TIME CONSTANT OF
ACCELERATION/DECELERATION IN RAPID
TRAVERSE .............................................................200
Tuning of Time Constant for Rapid Traverse ..............159

<U>
Unexpected Disturbance Torque Detection..................171
Uninstallation Procedure ................................................10
USAGE ..............................................................33,43,127

i-2
B-65404EN/02 REVISION RECORD

REVISION RECORD
Edition Date Contents
Addition of descriptions related to Series 0i-MODEL D, Series 30i-MODEL B, and Power Motion
02 Dec., 2011
i-MODEL A
01 Jun., 2005

r-1
 B-65404EN/02

* B- 6 5 4 0 4 EN/ 0 2 . 0 8 *