Servo Guide Help Manual - Fanuc Servo Guide 6

General warnings Page 1 of 6
General warnings and cautions

The following warnings and cautions describe precautions on handling SERVO GUIDE.
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 NC 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 NC 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
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 .
FANUC SERVO GUIDE is the integrated environment to make Servo & Spindle tuing easier.
SERVO GUIDE has the following features .
Features
z Easy connection to NC
z Integrated environment for tuning for example runing programs , measuring data and changing parameters
z Measurement of servo and spindle data at the same time
z Tuning navigator which includes the automatic tuning function
Change name
We've changed the name of Servo Tuning Tool from "FANUC iTUNE" to "FANUC SERVO GUIDE". The functions are
upper compatible to "FANUC iTUNE".
The data files, which are got by "FANUC iTUNE", can be read.
Changes of Ver6.00
Major changes of Ver6.00 are described as below.
z Supporting Series 0i-MODEL D.

z Level-up of Spindle Tuning function.
(This feature requires the support of spindle software.)
{ Frequency Response Measurement
{ Tuning Navigator (Filter tuning)
z Improvement of Tuning Navigator for Automatic Backlash Acceleration function
(This improvement requires the support of new servo software.)
Environment
To use this software , it's necessary to prepare follow list.
System Requirments
CNC :
- Series 30i,31i,32i-MODEL A
- Series 16i,18i,21i,20i-MODEL B
- Series 0i-MODEL D, 0i-Mate-MODEL D
- Series 0i-MODEL C, 0i-Mate-MODEL C
- Series 0i-MODEL B, 0i-Mate-MODEL B
- Power Mate i-MODEL D, i-MODEL H
- Pulse input type Digital Servo Adapter ( Note 1 )
Computer : IBM PC/AT COMPATIBLE
- In case of Ethernet connection : Port of Ethernet(LAN) necessary
- In case of HSSB connection : FANUC HSSB board necessary
* In case of Panel i : Panel i already has HSSB function.
OS :
- Microsoft Windows 98/Me ( Note 2 )
- Microsoft Windows NT4.0/2000/XP/Vista ( Note 3 )
Recommend to Microsoft Windows 2000 or later. ( Note 4 )
- Internet Explorer 4.01 or later ( Note 5 )
CPU : (based on the recommended environment of OS)
- Windows 98/Me : Pentium 200 MHz or higher processor recommended
- Windows NT4.0/2000 : Pentium 200 MHz or higher processor recommended
- Windows XP : Pentium III 500MHz or higher processor recommended
- Windows Vista : Pentium III 1GHz or higher processor recommended
Memory : (based on the recommended environment of OS)
- Windows 98/Me : 64MBytes or more ( 128MBytes or more recommended )
- Windows NT4.0/2000 : 128MBytes or more ( 256MBytes or more recommended )
- Windows XP : 256MBytes or more ( 512MBytes or more recommended )
- Windows Vista : 512MBytes or more ( 1GBytes or more recommended )
Pointing device : Something pointing device necessary (Mouse etc.)
Hard-disk space : 35MBytes or more ( 70 MBytes on installing ) ( Note 6 )
Graphic adapter : SVGA(800x600) or higher ( XGA ( 1024x768 ) or higher recommended ) ( Note 7 )
Printer : The printers added by the printers settings on Windows
Ethernet connection only

PCMCIA-LAN card : FANUC specification (A02B-0281-K710)( Note 8 )
It's includes a straight type cable (1.5m)
When you connect to PC directly without hub, please prepare cross type cable and cable coupler .
(You can buy it in some PC shops.) Connection
(Supplementary information)
Power Mate does not support PCMCIA-LAN card.
When you use SERVO GUIDE with Power Mate, you should insert Ethernet board into CNC.
Please prepare following items.
- Fast Ethernet board (A02B-0259-J293)
- Ethernet function (A02B-0259-J862)
- Control software of Ethernet function (A02B-0259-J555#6567)
- Extended BASIC 1 function (A02B-0259-J878)
- Extended drivers libraries function (A02B-0259-J847)
Pulse input type Digital Servo Adapter (PDSA) does not support PCMCIA-LAN card.
When you use SERVO GUIDE with PDSA, you should insert Ethernet board into CNC.
(Note 1) Series and editions of applicable system software
[System]
Series 30i-A G001/23 or later, G011/23 or later, G021/23 or later
Series 30i-A G00A/01 or later, G01A/01 or later, G02A/01 or later
Series 31i-A G101/01 or later, G111/01 or later
Series 31i-A G103/01 or later, G113/01 or later
Series 31i-A5 G121/01 or later, G131/01 or later
Series 31i-A5 G123/01 or later, G133/01 or later
Series 32i-A G201/01 or later
Series 32i-A G203/01 or later
Series 16i-MB B0H1/05 or later, B0HA/01 or later, B0HK/01 or later
Series 16i-MB B0K1/01 or later
Series 16i-TB B1H1/06 or later, B1HA/01 or later, B1HK/01 or later
Series 16i-TB B1K1/01 or later
Series 18i-MB BDH1/05 or later, BDHA/01 or later, BDHK/01 or later
Series 18i-MB BDK1/01 or later
Series 18i-MB5 BDH5/01 or later, BDHE/01 or later
Series 18i-MB5 BDK5/01 or later
Series 18i-TB BEH1/06 or later, BEHA/01 or later, BEHK/01 or later
Series 18i-TB BEK1/01 or later
Series 18i-LNB BDG3/12 or later
Series 21i-MB DDH1/05 or later, DDHA/01 or later, DDHK/01 or later
Series 21i-MB DDK1/01 or later
Series 21i-TB DEH1/06 or later, DEHA/01 or later, DEHK/01 or later
Series 21i-TB 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 later, D721/01 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 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 Adapter [A03B-0818-B121] 881H/05 or later
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[Ethernet & OPEN CNC]

Series 30i,31i,32i: 656E/06 or later & 656F/07 or later
Series 30i,31i,32i (for 15" color LCD):
Control software 1 for 15" color LCD A02B-0207-J595#60VB 1.3 or later
Control software 1 for 15" color LCD A02B-0207-J595#60VB 1.7 or later (I/O Link β i is supported.)
Series 300is,310is,320is:
WindowsCE.NET customize OS A02B-0207-J594 1.2 or later
WindowsCE.NET FOCAS2/HSSB library A02B-0207-J808 1.2 or later
WindowsCE.NET FOCAS2/HSSB library A02B-0207-J808 1.7 or later (I/O Link β i is supported.)
WindowsCE.NET standard application & library A02B-0207-J809 1.2 or later
Series 16i,18i,21i: 656A/03 or later (except 656A/07), 656A/13 or later (I/O Link β i is supported.)
Series 16i,18i,21i: 656A/14 or later (FANUC Remote Option System is supported.)
Series 0i-C: 656V/01 or later
Series 0i-C: 656V/07 or later (FANUC Remote Option System is supported.)
Series 0i-B: 656A/05 or later (except 656A/07)
Power Mate i-D, i-H: 6567/01 or later, 6567/17 or later (I/O Link β i is supported.)
Pulse input type Digital Servo Adapter [A03B-0818-B121] 6567/19 or later
[Servo]
90D0/03 or later, 90E0/03 or later (TuningNavigator is supported.)
90B1/01 or later, 90B8/01 or later (TuningNavigator is supported.)
90B6/01 or later, 90B5/01 or later (TuningNavigator is supported.)
90B0/06 or later (90B0/20 or later are needed for Tuning Navigator.)
9096/01 or later (9096 doesn't support Tuning Navigator.)
[Spindle]
Series 30i,31i,32i (for α i/β i series SPM) 9D70/02 or later
Series 16i,18i,21i (for α i/β i series SPM) 9D50/02 or later
Series 16i,18i,21i (for α series SPM) 9D20/11 or later
( Using α series SPM , there is the restriction of function for getting data )
( Using PowerMate i-D, there is the same restriction as using α series SPM. )
[I/O Link β i]
I/O Link β i control software 88A6/03 or later
Series 30i,31i,32i:
Power Mate CNC manager (J674)
Series 16i,18i,21i, PowerMate i-D, i-H:
Power Mate CNC manager (J674)
Power Mate CNC manager function (for β i) 8A01/03 or later
You may be able to use SERVO GUIDE with any other softwares. But we assure the correct working with α i
series in above combination.
Parameter Window and Program Window of SERVO GUIDE Ver 3.00 can support multi-path control systems
(except loader control path).
(Note 2) Windows 95 is NOT available.

(Note 3) When using this software under the WindowsNT 4.0, please install the "Service Pack 3" or later. Please get this
software from Microsoft Corporation.
(Note 4) In Windows 98/Me, since it may become resource shortage when two or more parameter windows, graph windows,
etc. are opened simultaneously, we recommend to use Windows 2000 or later.
(Note 5) If Internet Explorer 4.01 or later cannot be found, Online help cannot be displayed.
(Note 6) In addition, the space for storing measurement data is required.
(Note 7) Although SVGA also can be used, when two or more windows are opened simultaneously, it becomes hard to see by
window overlap.
(Note 8) When using "is Series" CNC with WindowsCE(160is, 180is,210is), LAN card can't be used for connecting PC and
CNC to use "SERVO GUIDE". Then LAN card is not necessary, and use embedded ethernetport behind CNC.
* Windows is trademarks of Microsoft Corporation in the United States.

* Other company and products name are either registered trademark or trademarks of each company.
Installation

1. Installation of SERVO GUIDE main part
(1) Insert SERVO GUIDE installation disk to CD drive.

(2) Open the folder of CD drive from a [my computer], and double-click "Setup.exe".
(3) Please operate it according to directions of an installer.
* Re-starting may be needed.
Note)If you execute "Setup.exe" at the PC in which older version is installed, the uninstallation will be
executed at first. After that please execute "Setup.exe" again to install newer version.
2. Installation of FFG calculation software
The auxiliary software of SERVO GUIDE is prepared. It calculates Flexble Feed Gear according to machine
composition, scale information, etc. In order to cooperate with SERVO GUIDE and to use this software, it
needs to install in the following procedure.
(1) Insert SERVO GUIDE installation disk to CD drive.

(2) Open the folder of CD drive from a [my computer], and double-click "FFG\Setup.exe"
(3) Please operate it according to directions of an installer.
* Re-starting may be needed.
* When this software is made to cooperate from SERVO GUIDE, it can perform by following operations in
parameter window,
[Servo axis setting] group → [Feedback setting] tab → [Support...]
(This software can be used independently of SERVO GUIDE.)
[Related items]
Uninstallation
Starting SERVO GUIDE
Starting FFG soft
Delete Registry Info.
SERVO GUIDE saves various setting data on running in registory . That data is used when SERVO GUIDE runs next time .
If you want to clean up this registory and initialize , for some reason or other , please use "Cleaner.exe"
You can select "Cleaner.exe" in [FANUC SERVO GUIDE] group of start menu .
In the case that many users log in SERVO GUIDE , setting data remains except for user who does "Cleaner.exe" .
Uninstallation
(1) Click a [start] button.
(2) Execute "Cleaner" from [FANUC SERVO GUIDE] group on start-menu.
(3) From start-menu, choose [control panel].
(4) Choose "FANUC SERVO GUIDE" from [add or delete of application]
Please push a [add or delete] button.
* FFG calculation software is also uninstallable by the same method.
Starting SERVO GUIDE

1.Starting the SERVO GUIDE from the Windows [Programs] menu

(1) Click the [Start] button at the Windows95/98/Me/NT4.0/2000.

(2) Click the [Programs] menu of the [Start] menu.
(3) Click the [FANUC SERVO GUIDE] folder of the [Programs] menu.
(4) Click the "SERVO GUIDE" of the [FANUC SERVO GUIDE] folder. Activate the SERVO GUIDE and
run.
2. Starting the Flexible Feed Gear calculation software (FFG soft)
(1) Click the [Start] button at the Windows95/98/Me/NT4.0/2000.

(2) Click the [Programs] menu of the [Start] menu.
(3) Click the [FANUC SERVO GUIDE] folder of the [Programs] menu.
(4) Click the "FFG" of the [FANUC SERVO GUIDE] folder. Activate the FFG and run.
Note) It is possible to start FFG soft from [selection of servo axis] in SERVO GUIDE parameter window .

Main Bar Page 1 of 2
Main bar
Main bar is the launcher bar that is appeared at first after running SERVO GUIDE. Three windows ( Parameter window ,
Graph window and Program window ) and Tuning Navigator can be launched from this bar .
And , communication setting dialog can be launched from this bar , too .
Parameter window
This window shows the parameters which are categorized by each function .
You can understand the meaning of parameter easier with graph and physical unit .
You can change the parameters directly through this window during connecting with NC .
Graph window
This is the window to display the measured data on servo and spindle axes, and PMC signal.
The various display modes are prepared.
PMC signals can be measured with the data of servo and spindle axis at the same time.
And you can analyze the frequency characteristic, too.
Program window
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Main Bar Page 2 of 2
This window support you to make the test program to tune .

You can easily make the test programs ( for example, the program of square with 1/4 arc).
You can send the test program and execute it during connecting with NC .
* Operator need to push the button[ Cycle start ] .
Tuning navigator
Tuning navigator supports you by step-by-step Wizard.

Following items are available.
[Servo axis] - Automatic tuning of velocity gain setting
- Automatic tuning of HRV filters
- Parameter decision of Automatic Backlash Acceleration (Series 30i,31i,32i,0i-D)
- Automatic tuning of time constant for rapid traverse
- Support for setting of High Speed and High Precision functions
[Spindle axis] - Automatic tuning of HRV filters
Please use this wizard with connecting to CNC.
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Function Support Table Page 1 of 1
Function Support Table

Concerning some function which requires CNC software support, applicable CNC software information for each functions
are described as below.
1. SERVO GUIDE (Basic function)

2. Tuning Navigator(Gain tuning, Filter tuning)
3. Data measurement of I/O Link β i
4. Tuning Navigator(Automatic Backlash Acceleration)
5. Getting CNC parameter and CNC ID information from CNC using FANUC Remote Option System
6. Spindle Tuning function(Acc./Dec. performance, Orientation)
7. PMC signal acquisition
8. Spindle Tuning function(Frequency response, Filter tuning)
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General trouble shooting Page 1 of 1
General trouble shooting

Show all answers
z In the case that you don't know how to terminate SERVO GUIDE.
z In the case that you can't communicate with NC (via ethernet).
z In the case that you can connect between Series 160is, 180is and 210is.
z SERVO GUIDE is something strange after NC power is OFF and ON .
Parameter window
Show all answers
z The screen is unstable.

z The layout of window is unstable.
z On multi-path control systems, parameters of 2nd-path and succeding path can't be handled.
z Parameters of loader control board can't be handled.
Graph window
Show all answers
z The number of waveform you see is lower than one you select.
z The data isn't renewed after setting of measurement channel.
z You can get the data correctly on polar coordinate interpolation .
z Though you want to get the data of spindle axis, you don't see the "S1" at combo box in axis setting.
z The scale of waveform is wrong by some multiplication.
z At Series 30i/31i/32i, axis can not be selected.
z Trigger does not work and sampling starts immediately.
Program window
Show all answers
z In the case that you want to make the other program except for preserved program.
z In the case that program path isn't displayed , or is displayed on the line.
z In the case that the program path displayed is different from one made by program.
z On multi-path control systems , you can't make the program of second system or later.
z In the case of HPCC, AIHPCC and AINanoHPCC, you can't execute the program.
Tuning navigator
Show all answers
z On multi-path control systems, you can't make the program of second system or later.
z In the case of HPCC, AIHPCC and AINanoHPCC, you can't execute the program.
z Trigger does not work and sampling starts immediately.
Spindle Tuning function

Show all answers
z Invalid operation error occurs.

Examples Page 1 of 60
Examples
The concrete examples is shown with using SERVO GUIDE in the following .
z Tuning of time const for rapid
z Tuning of circle
z Circle measurement for angular axis
z Tuning of square
z Tuning of square with 1/4 arc
z Tuning of rigid-tap
z Tuning of Cs contour control
z Measurement of vibrational frequency
z Measurement of frequency response
Procedure
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 .
→ Test program
2. The second procedure is to set for measurement in Graph Window .
→ Preparation for measurement
3. The third procedure is to run the program and to measure the data .
→ Measurement
4. The fourth procedure is to tune the parameter as the need arises .
→ Tuning of parameters
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 .
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2. Please decide the program by pressing the [Apply] button .

At the time of the FS16i series connection, the number of the program is decided by pressing the [Input] button
.
At the time of the FS30i series connection, the name of the program is decided by pressing the [File] button .
→FS16i Series

→FS30i Series
*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 prepare in program window .

→ go to the next page Preparation for measurement
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 .


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 .
Note) In upper example , the setting of CH3 are tuned for 80A amplifier . Please set the conversion coefficient for
max 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 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 micro meter because the relation between error and pulse is seen more easily .
4. Returning main window , this setting is terminated .
→ Next page Measurement
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 , please press the [Measurement start] button .
4. The following window is the sample of the measurement data .
Blue : Motor speed

Red : Error
Green : Torque command
5. By the following button , the waveform is zoomed in or out suitably .
You can see the waveform for example following one .
→ Next page Tuning of parameters

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 .
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 .
For smaller time constant , you have bigger torque command , you can see that speed and error change sharply .
Procedure
1. The first procedure is to make the test program of circle in Program Window .
→ Test program


→ Measurement
Test program
1. The first procedure is to make the program by setting the various condition .

.
→FS16i Series

→FS30i Series
Note) It is necessary to confirm the program code that SERVO GUIDE makes .
.
Preparation in program window is terminated .

→ Next page Preparation for measurement


In this setting , the position feedback integral value is displayed to CH1 , CH2 .
2. The second procedure is to change XY mode by pressing the Ctrl+X after returning the Graph Window .

In this window , the display is set as to display XY mode with the data(CH1 , CH2) in Draw1 .
4. Returning the main window , the setting is terminated .
Measurement
1. The first procedure is to press the [Origin] button at one time in Graph Window .

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 .
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 feedforward .
The parameters are tuned with considering the result of measurement . It is shown to tune feedforward coefficient .
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 .
Note) In case of using the Windows98/Me , the resource shortage may be occurred , or the display may not be
described correctly . When case occurred , don't open the two window .
4. In the following window , feedforward function is enable and feedforward coefficient is set to 100% .
Note) Please 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 please zoom up the graph with pressing the "U(up)" key .
Procedure
This procedure describes the case to measure the X-Z circle like the following figure.
By the way, when the independent axis which isn't related to angular axis control exists as the Y axis, and the case to measure
the X-Y circle, it is possible to measure not using the coodinate transformation of SERVO GUIDE in the following procedure
but changing the conversion coefficient of X axis (angular axis) by cos θ times. (θ : inclination angle)
1. The first procedure is to make the test program of circle in Program Window .
→ Test program
→ Measurement
Test program


.
→FS16i Series

→FS30i Series
.



In this setting, the position feedback integral values for perpendicular axis and angular axis are displayed to CH1,
CH2.

In this window , the display is set as to display XY mode with the data(CH1 , CH2) in Draw1.
Please set perpedicular axis as Input1 and angular axis as Input2. And please select "A: Angular axis" as Coordinate
conversion and set the degree of the angle beside it.
Measurement
After conversion from Angular axis to Perpendicular axis

When you press Ctrl+R, the angular conversion will be switched as toggle.
Before conversion from Angular axis to Perpendicular axis
5. You can use Circle mode against the waveform which is converted from Angular to Perpendicular. Please press
Ctrl+B to change to Circle mode.
Procedure
1. The first procedure is to make the test program of square in Program Window .
→ Test program

→ Measurement
Test program

.
→FS16i Series

→FS30i Series
.



In upper window , the position feedback integral value is outputted to CH1 , 2 .

The upper window is set to display the measurement data of CH1 , 2 on XY mode in Draw1 .
Measurement

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 .
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 micro meters .
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 .
3. The third procedure is to check the [Corner deceleration with velocity difference] and to set the parameter of the
allowed velocity difference .
Note) These parameters are common values among all axes . It is not necessary to set each axis .


You can see that the overshoot is lower by the function Automatic corner deceleration .
Procedure
1. The first procedure is to make the test program of square with 1/4 arc in Program Window .
→ Test program
→ Measurement
Test program
In the program window , you can make and send the program in the following procedure .


.
→FS16i Series
→FS30i Series
Note) It is necessary to confirm the program code that SERVO GUIDE make .
.



2.
3.

In this window , the position feedback integral value is outputted to CH1 , 2 .
4. The second procedure is to change XY mode with pressing the Ctrl+X after returning the Graph Window .
The upper window is set to display the measurement data of CH1 , 2 on XY mode in Draw1 .
Measurement

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 -5 , one division is changed to 1mm .
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 micro meters .
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 [PEFER] in [Calculation and display setting] , you can use the reference path,
In the wave display ON/OFF panel , please use on Contour mode etc with REFER checked .
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 on [On line] state .
2. The 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 .
3. In the following window , it is shown to set the parameter .
Note) These parameters are common values among all axes . It is not necessary to set each axis .


You can see that the overshoot become less by the function Automatic deceleration .
Procedure
1. The first procedure is to prepare the NC parameter .

→ Preparation on NC
2. The second procedure is to make the test program for rigid tapping in Program Window .
→ Test program
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 .
→ Measurement
5. The fifth procedure is to tune the parameter as the need arises .
Preparation on NC
It is necessary to set the following parameters for output of synchronous error in rigid tapping mode .
No. 3700#7 = 1(Don't set this bit)
No. 3700#5 = 1
1. The first procedure is to select the [Parameter table] ( The last item ) at [Function group combo box] in Parameter
Window .
2. The second procedure is to jump to the No. 3700 with Ctrl+G .
3. The third procedure is to change the bit parameter as following .

→ Next page Test program
Test program

.

→FS16i Series
→FS30i Series
.


It is necessary to prepare the graph window setting in the following procedure .
The upper window is set to display the velocity of Z axis in CH 1 and the synchronous error of Z axis in CH2 .
Note) The synchronous error data is output to tapping axis ( servo axis ) .
2. The second procedure is to change XY mode with pressing the Ctrl+X after returning the Graph Window .

The upper window is set to display the raw data of CH1 in Draw 1 and the raw one of CH2 in Draw 2 .
Measurement

In upper sample , the waveform on rapid traverse to R point and on tapping from R point are displayed .
Blue : the velocity on Z axis

Red : the synchronous error
5. The synchronous error data from linear to R point is no meaning because the program doesn't take synchronous mode
between servo and spindle .
Then to see more easily the part of tapping actually , red waveform is zoomed in vertical .
With [Arrow] button is kept on , click the arbitrary point on red waveform , so the red waveform becomes heavy
line .
To press the [Zoom in at vertical] button at some times , zoom the waveform till the suitable size .
To click the white part on graph , the red waveform turn to the thin line .
The parameters are tuned with considering the result of measurement . It is shown to tune the Position gain.

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 .
*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 please operate as the following .
Parameter 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
Program window : It is necessary to press the [Reconnection] in [File] menu .
6. The sixth procedure is to measure the data again .


You can see that the synchronous error is lower by the raising the position gain .
Procedure
1. The first procedure is to make the test program for the Cs contouring control in Program Window .
→ Test program
→ Measurement
Test program

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 [Start position of X axis] .

.
→FS16i Series
→FS30i Series
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 .

.



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 .
Note) About X axis , it is necessary to input the coordinate value of start point in box of [Origin value] .
2. The second procedure is to change XT mode with pressing the Ctrl+T after returning the Graph Window .
The upper window is set to display the raw data of CH1 in Draw 1 and the raw one of CH2 in Draw 2 .
Measurement
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 .
Please 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 . )
The upper window is displayed the position feedback integral value at each axis .
Blue : The position on X axis

Red : The position on C axis
6. This data is transformed to polar coordinate . Press the Ctrl+T , so you can get as the following waveform .
In upper example , both the position signals ( X axis (Radius distance) and C axis (Angle) ) are transformed to the
polar coordinate ,
and the position is displayed on the horizontal and vertical axis in cutting contouring .
Blue : Contouring position at a horizontal axis on cutting

Red : Contouring position at a vertical axis

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 .
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 .
If you load the program path file you made , In REF setting , select the [FILE] , press the [Reference] button , and
select the program 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] .
It is necessary to confirm that the program command path displayed in window is similar to the path of getting data .
10. If you press the Ctrl+O , the mode changes the Contour 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.
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 .
Reference)
In case of that you don't have the waveform as the upper example and you have the leaned square , it is necessary to
press the [Channel setting] button and change ON/OFF at the [Synchronous mode] check box .
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. The sixth procedure is to select the [Positional control] in function select tab .
If you take the upper all procedures , you see as the following window .
7. To raise the positional gain , in upper two windows , please 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.

-> Reference Using the program path changed length of segment
Procedure
You can measure in the following procedure .
1. The first procedure is to make the test program of straight movement in Program Window .
→ Test program
→ Measurement
Test program

.

→FS16i Series
→FS30i Series
.



The upper example is set to display the torque command to CH1 . The sampling period is set to 125 micro second .
The number of data points are set to 800( 0.1 second ) .
To measure till the high frequency , the sampling time shoule be set shorter .
Note) If you don't use the HRV2 control or more , you can't set sampling period to 125 micro second .
The trigger number isn't set .
2. The second procedure is to change YT mode with pressing the Ctrl+T after returning the Graph Window .

The upper example is set to display the raw measurement data of CH1 to Draw 1 .
Measurement
In case that axis begins moving , please press the [Measurement start] button .
5. To transform this waveform to Fourier , it is necessary to press the Ctrl+F .

The upper graph has the peak of amplitude at 12(waves/0.1sec) . You can see that the frequency of the resonant point
is 120 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 .
Procedure
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 .
→ Measurement

1. Select the items from menu in the following order , [Tool] [Frequency analysis] [Measurement] .
You see the following dialog , please 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 [Frequency characteristic] page .
Measurement
1. The first procedure is to press the [Measurement start] in frequency characteristic measurement dialog .
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.
Procedure

To measure the frequency response in spindle axis, please use the spindle tuning function.
Conventional measurement method

You can measure in the following procedure.
1. The first procedure is to change the operation mode to the velocity control mode.
2. The second procedure is to set the parameter for disturbance input function
→ Parameter setting for measurement
3. The third procedure is to set the parameter for measurement data in Graph Window.
4. The fourth procedure is to measure the data.
→ Measurement
5. After completing measurement, turn off motor excitation and reset all parameters for the disturbance input function to
0.
Parameter setting
Setting of Disturbance Input Function
Please input following parameters for using disturbance input function.
z Disturbance input function bit

No.4395#7(DTQFNC) = 1
This bit is valid only when S0 is specified in the velocity control mode.
If this bit is set to 1 under conditions other than the above, the spindle amplifier results in a status error (error No. 32),
and the excitation of the spindle motor is turned off.
z Disturbance input start trigger bit
No.4395#6(DTQTRG) = 0
When this bit is set to ON (0 → 1) while excitation is ON (SFR = 1 or SRV = 1), the disturbance input starts.
When this bit is set to OFF during measurement, the disturbance input is stopped in the middle.
z Start frequency/End frequency of disturbance input
No.4410 = 10, No.4411 = 1000
Set the frequency range of disturbance input. (parameter unit: Hz)
z Disturbance torque command amplitude
No.4414 = 5
Set the amplitude of the disturbance torque command. (parameter unit: %)
This parameter means percent ratio for maximum torque command.
z Other parameters
No. 4412, 4413, 4415, 4030
For these paraemters, default setting value (zero) may be used, and set appropriate value as necessary.
For detail, please refer to the parameter manual of spindle motor(B-65280EN)


The upper window is set to display the disturbance frequency at S1 axis ( spindle axis ) in CH1 and the gain at S1 axis
in CH2.
2. The second procedure is to change Y-Time mode with pressing the Ctrl+T after returning the Graph Window .
Measurement
You can measure the data in the following procedure.
1. Issue the S0 command and turn on excitation (SFR = 1 or SRV = 1).

2. Press the [Origin] button at one time in graph window .
3. Press the [Measurement start] button , and set disturbance input start trigger bit DTQTRG(No.4395#6) from 0 to
1.
4. After the motor vibrates some seconds, you can see the following waveform.
If one of the following conditions is satisfied during measurement, disturbance input is interrupted and the motor
decelerates then stops:

{ The measurement start trigger is turned off. (DTQTRG = 0)

{ Spindle motor excitation is turned off. (SFR = 0, SRV = 0)
{ An emergency stop is applied.
(Y-Time mode display)
5. If you press the Ctrl+X , the mode changes the XY mode.

You can see the following waveform as frequency response. The horizontal axis means frequency and the vertical
axis means gain.
You can see the frequency of the resonant point or bandwidth of velcity control loop.
6. To restart measurements, set disturbance input start trigger DTQTRG to ON (0 → 1).

In HRV filter adjustment, a measurement and parameter change must be repeated.
So adjust the filter by repeating the following steps:
Starting measurement (DTQTRG = 1) → End of measurement → DTQTRG = 0 → Changing the HRV filter
parameters → Starting measurement (DTQTRG = 1) and so on.
7. After completing measurements (adjustment), turn off motor excitation and reset all the parameters for the
disturbance input function to 0.
Procedure
1. The first procedure is to make the test program of linear reciprocating motion in Program Window .
→ Test program
3. The third procedure is to run the program , to measure the data and to determine the parameters for the compensation.
→ Measurement and Parameter setting
Test program

1. The first procedure is to make the program by setting the various conditions .
Please 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.
Note) When the speed is too fast, the parameter calculation may become wrong.
If you use Synchronous Built-in Servo Motor with N poles, the speed for measurement is 14400/N deg/min.

.
→FS16i Series

→FS30i Series
*It is necessary to confirm the program code that SERVO GUIDE makes .
.
That's all prepare in program window .

→ go to the next page Preparation for measurement


In upper windows , it is set that rotor position (ROTOR) is displayed on CH1 , torque command (TCMD) is displayed
on CH2. (Please don't make a mistake in reverse order.)
Note) In upper example , the setting of CH2 is tuned for 40A amplifier . Please set the conversion coefficient for max
current value of amplifier you use .
Please set enough measurement time to measure all the data during one go-back.In above example, we use 15000
points with 1ms sampling.
2. The second procedure is to turn back main of Graph Window , to change Y-T mode by pressing Ctrl+T .

The upper window is displayed the raw results of measurement data . The data on CH1&2 is displayed at Draw 1&2.
4. Returning main window , this setting is terminated .
→ Next page Measurement and Parameter setting
Measurement and Parameter setting

1. The first procedure is to press [Origin] button at one time in Graph Window .
Blue : Rotor position

Red : Torque command
5. Please press Ctrl+L. (or select [LinearMotorComp.Cal.] in [Tool] menu.)
Please press [Add] button in the new dialog. A paramter is registered as candidate.

The estimated parameters have some unevenness according to the measurement condition. So please try same [Add]
procedure by usning Program window and Graph window together. (The maximum number of try is 5.)
Please check the analysed value. And if you find strange values, which are too much different form others, please 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, please press [Calc] button both in normal direction part and in reverse direction part. The paraemters to set
must be shown.
6. You can send the parameters to CNC by press [Set Param.] button.
7. Please confirm the effect of the compensation by using Program window and Graph window.

Connection Page 1 of 125
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
Note) 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.
Setting of PC (Win98,Me)
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. Please press right click on [Network Neighborhood] on your desktop. And after that, please select [Properties]. You
can see the dialog to set some network setting.
2. Please select [TCP/IP->xxxx Ethernet Adapter] in the [Configuration] list. And press [Properties].
file://C:\Documents and Settings\morrisd\Local Settings\Temp\~hhF94C.htm 2/23/2010

3. [TCP/IP Properties] will be shown. Please remember the value of "IP Address" and "Subnet Mask" in the [IP
Address] tab.
4. Please 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 of all, please install Ethernet adapter (additional board or PCMCIA card)
Please see the reference of the Ethernet hardware if you have any questions about it.
2. Please see [TCP/IP Properties] dialog like above.
3. Please set following value.
IP Address: 192.168.1.2
Sumnet Mask: 255.255.255.0

4. Please shut down the dialog by press [Cancel].
[Reference]
Setting of NC
Setting of NC(30i)
Setting of NC(Power Mate i)
Setting of NC(Pulse input type DSA)
Setting of PC (WinNT)
LAN card.
1. Please press right click on [Network Neighborhood] or [My Network Place]]on your desktop. And after that, please
select [Properties]. You can see the dialog to set some network setting.
2. Select [Protocol] tab and select [TCP/IP Protocol]. After that, press [Properties].
3. [TCP/IP Properties] will be shown. Please remember the value of "IP Address" and "Subnet Mask" in the [IP
Address] tab

1. First of all, please install Ethernet adapter (internal board or additional board )
2. Please see [TCP/IP Properties] dialog like above.
4. IP Address: 192.168.1.2
Sumnet Mask: 255.255.255.0
[Reference]
Setting of NC
Setting of NC(30i)
Setting of PC (Win2000)
LAN card.
1. Please press right click on [My Network Place] on your desktop. And after that, please select [Properties]. You can
see the folder of [Network and Dial-up Connections].

2. Please press right click on [Local Area Connection] and please select [Properties]. You can see the dialog of [Local
Area Connection Properties].
3. Please select [Internet Protocol TCP/IP] in the list box. And please press [Properties].
4. [Internet Protocol (TCP/IP) Properties] will be shown. Please remember the value of "IP Address" and "Subnet
Mask" .

2. Please see [Internet Protocol (TCP/IP) Properties] dialog like above
IP Address: 192.168.1.2
Sumnet Mask: 255.255.255.0
[Reference]
Setting of NC
Setting of NC(30i)
Setting of PC (WinXP)
LAN card.
1. Please press right click on [My Network Place] on your desktop. And after that, please select [Properties]. You can
see the folder of [Network Connections].

2. Please press right click on [Local Area Connection] and please select [Properties]. You can see the dialog of [Local
Area Connection Properties].
3. Please select [Internet Protocol (TCP/IP)] in the list box. And please press [Properties].
4. [Internet Protocol (TCP/IP) Properties] will be shown. Please remember the value of "IP Address" and "Subnet
Mask" .

2. Please see [Internet Protocol (TCP/IP) Properties] dialog like above
IP Address: 192.168.1.2
Sumnet Mask: 255.255.255.0
[Reference]
Setting of NC
Setting of NC(30i)
Setting of PC (Windows Vista)

LAN card.
1. Please right-click [Network] in the start menu, and then click [Properties]. You can open [Network and Sharing
Center].

2. Please click [Manage network connections]. You can see the folder of [Network Connections].
3. Please right-click on [Local Area Connection] and then click [Properties]. You can see the dialog of [Local Area
Connection Properties].
If you are prompted by the dialog of User Account Control(UAC), please follow the instruction to continue this
operation.
4. Please click [Internet Protocol Version 4 (TCP/IPv4)] in the list box, and then please click [Properties].

5. [Internet Protocol Version 4 (TCP/IPv4) Properties] will be shown. Please remember the value of "IP Address"
and "Subnet Mask".
1. Please see [Internet Protocol Version 4 (TCP/IPv4) Properties] dialog like above
IP Address: 192.168.1.2
Sumnet Mask: 255.255.255.0
[Reference]
Setting of NC
Setting of NC(30i)

Setting of NC (Series 16i, ...)

1. Insert PCMCIA-LAN card to the slot of CNC.
2. Please press [SYSTEM] on MDI keys. And press [>] soft key several times. You can see [ETHPRM],[ETHMNT],
[OPRT] on the soft key menu.
3. Please press [ETHPRM]. And please confirm the display of [PCMCIA] as Available Ethernet.
If the display is [EMBEDDED], please press [ETHPRM]→[OPRT]→[SWITCH]→{PCMCIA}→[EXEC]→
[RETURN]. The available Ethernet must become [PCMCIA].
4. Press [PCMCIA] soft key on the display which shows [Availaable Ethernet],[PCMCIA].
5. The initial setting of CNC is as follows.

IP ADDRESS: 192.168.1.1
SUBNET MASK: 255.255.255.0
- 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.
- When your PC is usually connected to LAN, please change the setting of IP address of NC according to the IP
address of your PC.
Please set same value as your PC as SUBNET MASK
For IP address, please 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.
NC setting
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. Please see following display by press [PAGE] key.
7. Please set "8193" as PORT NUMBER(TCP)

8. Please remember the value of IP address and Subnet Mask. It's necessary to do the setting of SERVO GUIDE.
Note) You can't connect between PC and NC by using PCMCIA-LAN card in "is Series" (160is, 180is, 210is) which use
Windows CE. Please use embedded Ethernet port for the NC. (Of course, please use internal LAN port for the cable
connection.)

[Reference]
Setting of NC (Series 30i, ...)

1. Insert PCMCIA-LAN card to the slot of CNC.
2. Please press [SYSTEM] on MDI keys. And press [>] soft key several times. You can see [COMMON],[FOCAS2],
3. Please press [COMMON]. And please confirm the display of [PCMCIA] as available device.
If the display is [EMBEDDED], please press [OPRT]→[EMB/PCMCIA]→[EXECUTE]. The available device must
become [PCMCIA].
4. The initial setting of CNC is as follows.

IP ADDRESS: 192.168.1.1
SUBNET MASK: 255.255.255.0
- 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.
- When your PC is usually connected to LAN, please change the setting of IP address of NC according to the IP
address of your PC.
NC setting
5. Please see following screen by press [FOCAS2] soft key.


Note) You can connect between PC and NC by using PCMCIA-LAN card in "is Series" CNC (300is, 310is, 320is) which use
Windows CE .NET.
[Reference]
Setting of NC (Power Mate i)

Power Mate does not support PCMCIA-LAN card.
When you use SERVO GUIDE with Power Mate, you should insert Ethernet board into CNC.
- Extended BASIC 1 function (A02B-0259-J878)
- Extended drivers libraries function (A02B-0259-J847)
1. Please press [SYSTEM] on MDI keys. And press [>] soft key several times. You can see [ETHPRM],[ETHMNT],
2. Please press [ETHPRM].
3. The initial setting of CNC is empty.

Please change the setting of IP address of NC according to the IP address of your PC.

NC setting
4. Please see following display by press [PAGE] key.

[Reference]
Setting of NC (Pulse input type DSA)

When you use SERVO GUIDE with Pulse input type DSA (Digital Servo Adapter), prepare following items.
- CNC software (A03B-0818-H511#881H) : 881H/05 or later
- Control software of Ethernet function (A02B-0259-J555#6567) : 6567/19 or later
Please set IP address of NC by either following methods.
z Ethernet function parameter setting

z Fixed Ethernet data setting
Please remember the value of IP address and Subnet Mask and TCP Port Number. It's necessary to do the setting of SERVO
GUIDE.
Ethernet function parameter setting

Ethernet parameters are set on the parameter screen of DPL/MDI.
Parameter No. Description

704-707 IP ADDRESS
712-715 SUBNET MASK
720-723 ROUTER IP ADDRESS
724 TCP PORT NUMBER
725 UDP PORT NUMBER
726 TIME INTERVAL

727#0 1:Set Ethernet parameters
After parameter No.704-726 are set, finally set parameter No.727#0 to 1.

If parameter No.727#0 returns to 0 because of failing in the setting, please modify parameters and retry the setting.
Fixed Ethernet data setting

In normal operation, the fixed Ethernet address is set by using the 7-segments LED and pushbutton switche as follows.
For details of the operation method, please refer to the CNC MAINTAINANCE MANUAL "Appendix:
DISPLAY/MAINTENANCE USING THE MAIN UNIT".
Primary Secondary Third Fourth Explanation

0 End of this operation
0 Return to primary selection mode
0 Return to secondary selection mode
0 Return to third selection mode
7 1 3 1 Setting of fixed Ethernet data
F End of all operation
The following Ethernet data is set.

IP ADDRESS: 192.168.1.1
SUBNET MASK: 255.255.255.0
TCP PORT NUMBER: 8193
UDP PORT NUMBER: 0
TIME INTERVAL: 0
[Reference]
Setting of PC (Windows Vista)
Setting of SERVO GUIDE

Please display following dialog by press [Comm...] on Main Bar.

z When you press [Default], the standard values of NC (IP address=!192.168.1.1" and Port number="8193") are set.
z When you change IP address on NC, please change above setting according to the setting on NC.
z Please set wait time for Timeout. (The unit is sec.)
We think that 2 or 3 is enough.
z Please press [Test] after you connect between PC and NC and set all above items. You'll see "OK" when they are
communicating.
z If you see "NG" at the test, please 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 NC side and PC side.
- Are the above settings of SERVO GUIDE correct ?
[Reference]
Setting of PC (Win98, Me)
Setting of NC
Setting of NC(30i)
Supplement for communication

z We think SERVO GUIDE is connected by PCMCIA card in the front slot of NC. However you can use embedded
Ethernet port, which is on the back of NC. In this case please switch "AVAILABLE ETHERNET" to "EMBEDDED"
on [ETHPRM] screen.
z You can't use PCMCIA-LAN card with "is Series" CNC (160is, 180is, 210is) which use Windows CE. Please use
EMBEDDED ETHERNET.
On the other hand, you can use PCMCIA-LAN card with "is Series" CNC (300is, 310is, 320is) which use Windows
CE .NET.
z If your CNC is connected to LAN in your factory, you can connect PC with CNC by straight cable via Hub. In this
case please pay attention not to conflict IP address against any other instruments( PC, Printer, CNC, etc.).
z You can't use EMBEDDED port and PCMCIA port of CNC at the same time.
If your CNC is connected to LAN in your factory, you can't use any other service by embedded port during tuning by
SERVO GUIDE which uses PCMCIA port.

Connection
We think you must have connected between NC and PC by an optical cable as follows when you use HSSB. You don't have
to prepare any other special connection to use SERVO GUIDE with HSSB.
HSSB Connection
SERVO GUIDE can be used via HSSB connection to NC by FOCAS1 library support.
Click [HSSB] button on the communication setting dialog, and select CNC node name to connect.
Usage
You can see following launcher bar after you start SERVO GUIDE.
Parameter Start Parameter Window

Graph Start Graph Window
Program Start Program Window
Navigator... Start Tuning Navigator
Start dialog for setting of the target
Comm...
NC.

When you press right click on Main Bar, you can see the following menu.
Top, Bottom Specify the place of Main Bar

Communication Start dialog for setting of the target NC.
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
Start dialog for setting of the language.The
support languages are English, Japanese,
Language Chinese(Simplified) and Chinese
(Traditional).You can choose the language,
English or OS language.
Help Show Online Help
About
Show about dialog
SERVO GUIDE
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.
Outline
When you press [Parameter] on Main Bar, the following dialog box is shown.

When you press [From File], the existing parameter file can be opened. (OFF LINE mode)
When you press [Online] during connecting to NC, the parameters inside NC are loaded into the Parameter Window.
(ONLINE mode)
Because there is no option parameter in the parameter file of CNC using FANUC Remote Option System, select the proper
CNC type and select the CNC ID information file (CNCIDNUM.TXT) before opening the parameter file.
→About supporting the FANUC Remote Option System
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
: 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.
: 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.
Menu
The contents of the menu in the Parameter Window are explained.
z 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)
- 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 NC.
- 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 please 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.
z Edit
- FS16 Init
All parameters are cleared to 0.
- Read Standard Parameter
The standard parameters for every motor are initialized by the parameter sets which are
included in servo software.
z 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.
z 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.
* In Win98 and WinMe, if two or more Parameter Windows are opened, it may become the shortage of system
resources and screen display may be strange.
Usage

z 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.
- 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.
z The usage of a parameter table display
If you want to change parameters other than the categorized parameter groups, please choose [Parameter
Table] in the functional group selection combo-box.
The change of parameter in the table can be also reflected to NC.
- In case of bit type parameter
By single click, 8 bits check box will open as follows. Please put a required bit here and push Return key.
- In case of value type parameter

By double click, a parameter becomes editable. Please push Return key after editing value.
- In case of multi path system

Path selection tabs are displayed at right bottom of the parameter tablescreen.
Right column of parameter number describes array type of the parameter. (A:axis, S:spindle, L:path,
T:machine group)
z FS16i series
z FS30i series
Printing is also supported in the parameter table display. Please select [Print] from [File] menu, and specify the
parameter number to print in the following dialog box.

Outline
When you press [Graph] on Main Bar, Graph Window is shown. → example
You can get various data of servo and spindle axes on Graph Window. Graph Window provides you various display mode to
analyze measurement data.
Graph Window (Important)

The waveform on Graph Window is shown by the following two data. Therefore it's necessary to do operation to display the
waveform.
Measurement data
Raw data from NC (Position, Torque, etc.)
Operation data
It is the result of calculation by some operation against measurement data. If you don't set any operation against the
measurement data, you can't see any waveform.
It means that
Display waveform = Measurement data + Some Operation.
In the following explanation, we use CHANNEL(CH) as Measurement data and DRAW(Draw) as Display data.
CH1 : Measurement data 1

Draw3 : Display data 3
This is the general idea of Graph Window.
If you use maximum ability of Graph Window, you see the 8 DRAW(Draw1-8) by setting eight kinds of operation against 6
CHANNEL(CH1-6)
Espcially you can see the plural DRAW by setting plural operation against one measurement data.
Basic explanation
z Components
z Menu

z Tool Bar
z Shortcut
Components
The components of Graph Window are shown.
The name of componet will be shown by point folloing picture.
Expansion
Graph Domain
The internal domain in bold line is the place where display waveform.
The kind of data, operation and unit are shown in the left side of it.
Cursor
The dotted line called "Cursor" will be displayed by operating "Cursor display panel".
It is the line which is showed in the left side of 4000 in X axis in above figure.
(Four lines are shown including horisontal lines and vertical lines in total.)
Comment Domain
Two line comments are shown above the bold line.
When you click the domain, you can edit the comments.
Menu
You can execute some commands by the menu.
Please refer Menu in detail.
Tool Bar
You can execute some commands by click the button.

Please refer Tool Bar in detail.
Draw select panel

Switch Display mode valid or invalid.
You can use this switch at some Draws where some operations are set.
Example)
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

This makes change the display of "Cursor" and "Waveform information box" according to the status of check
box.
The availablity of each check box will be changed according to the display mode of Graph Window.
Waveform information box

The box will be displayed in the lower right in the graph like left figure.
The contents in the box will be changed according to the display mode of Graph Window.
Monitor Window
You can use Monitor Window by select menu [Comm]-[Monitor] at ONLINE state.
You can monitor the current data of every CHANNEL on this dialog.
Every CHANNEL shows the kind of data, axis name, axis number and current data.
The data become gray if the CHANNEL is invalid.
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 and iTUNE.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.
Print Setup(U)

Setting for print out

Print(P) (Ctrl+P)
Print out of current waveform
Exit(X)
Terminate SERVO GUIDE
It close 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
Cancel measurement
Connect(C)
Connect with NC and transmit the setting for measurement
Disconnect(D)
Disconnect with NC 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.
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
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)
This makes change the display of "Waveform information".
Vertical Cursor(V)

This makes change the display of "Vertical cursor".

Horisontal Cursor(H)
This maeks change the display of "Horizontal cursor".
Cursor goto 0(0)
This makes move the selected cursor to 0 point.
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
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 synchro error (Horizontal axis means time.)
CONTOUR (Ctrl+O)
Display of contour error of arbitrary shape
XYR (Ctrl+R)
Switch for Polar mode (Valid or Invalid)
XYA (Ctrl+R)
Switch for Angular mode (Valid or Invalid)
FOURIER (Ctrl+F)
Display of analysis of vibration
Tool(T)
Frequency Response(F)
Measure
Open the dialog for frequency response
Measure the frequency response of velocity loop
Bode plot (Ctrl+M)
Re-draw of bode diagram
LinearMotorComp.Cal(L) (Ctrl+L)
Show the dialog for calculation of Smooth compensation with linear motors
Auto Tuning
Start Tuning Navigator
Spindle Tuning(S)
Acc./Dec. performance Measurement
Open the screen for Acc./Dec. performance measurement
Orientation Measurement
Open the screen for Orientation measurement
Frequency Response Measurement
Open the screen for Frequency Response measurement
Help(H)
Contents(C)
Show contents of help file
Index(I)
Show index of help file
Tool Bar

Tool bar for Graph Window is as following.
It shows below command menu. You can execute some commands by click the buttons.
If you want to switch the display of tool bar, please use the menu [View]-[Toolbar].
tool function
Open new window
Read stored waveform data
Save the current data
Copy the bitmap of current waveform to clipboard
Print out of current waveform
Connect with NC and transmit the setting for
measurement
Disconnect with NC and clear the setting for
measurement
Show CHANNEL setting dialog
Show OPERATION setting dialog
Execute origin
Start measurement
Execute auto-scale for all Draws
Shrink horizontal scale
Expand horizontal scale
Shrink vertical scale
Expand vertical scale
This makes move the selected cursor to 0 point.
Select Draw
This expands the selected scope.
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 NC . To
connect to NC, select [Connection] at [Communication(C)] in menu or click connection button in tool bar. After channel
setting is finished correctly, measurement button will be enable.
Channel setting
z Channel setting

z Available data at servo axes

z Available data at spindle axes
z PMC signal
z Available data at I/O Link β i
Operations setting
z Operations setting
{ Basic Graph Mode
{ Available operations
{ Setting of unit
{ Load reference path
z Available operations
Reference following page
Easy Graph Mode
z 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 . )
Shortcut
Easy Graph Mode(SD.EXE compatible)
(SD.EXE)
SD.EXE is the soft on MS-DOS that analyzes the data on servo axis .
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 .
Short cut Setting mode
Ctrl+T Position mode( time base)
Ctrl+V Velocity mode( time base)
Ctrl+A Acceleration 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 Swiching On/Off about Polar and Angular mode
Ctrl+F Frequency analysis mode(Fourier transform)
Ctrl+M Bode plot
Chanel 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
up arrow Zoom up on time axis
down arrow Zoom up on time axis
a Scale setting automatically
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 + up arrow Move horisontal cursor to upper direction
Alt + down arrow Move horizontal cursor to lower direction
Alt + right arrow Move vertical cursor to right direction
Alt + left arrow Move vertical cursor to left direction
0 This makes move the selected cursor to 0 point.
Others
Short cut Function
Ctrl+L Open Smooth comp. dialog
Channel setting
Procedure
To show the channel setting mode , click channel operation button on toolbar or select the [Channel] on [Setting(S)]
menu of graph window . It is possible to show channel operation mode with short cut key [F9]

In this page , you can set the necessary items to measure the data .
z Number of measurement data points

z Trigger setting
z Sampling period
z Comment
z Measurement data in each channel
(Measurement axis , the kind of measurement data , operation coefficient , unit , etc)
Number of measurement data points :

You can set the number of measurement data points . Measurement time = The number of measurement data points *
sampling period
The maximum of the number of data points are 100000. When you watch the contour error about arbitrary shape ,
please set the number of data points as small as possible to make the calculation time short .
If you set the different sampling period between servo and spindle, the number of measurement data points are
applied to shorter one . The number of longer one must be decreased according to the ratio of sampling period.
NC sends the data to PC with buffering. In the case of buffer overflow for high speed sampling , the number of
measuring points become lower than setting one .
Trigger Setting :
Trigger conditions are shown in the trigger group box.
(Upper : Trigger type, Lower : The detail information of the trigger)
It transits on the "trigger setting" screen when "change" button is pushed.

Trigger setting screen

Set trigger condition.
z Trigger path:
Path :
Select the path number for the following triggers.
In case of blank, the first path is assumed to be selected.
N number :
Trigger by a sequence number of running program in the selected path.
If you set 0, this trigger is invalid.
SV alarm (*):
Trigger by a servo alarm in the selected path.
SP alarm (*):
Trigger by a spindle alarm in the selected path.
z Trigger signal(*):
Address :
Trigger by a PMC signal
Condition :
Select the trigger condition of the above-mentioned PMC singal
z Trigger position(*):
Slider position :
Specify where the time at which the trigger condition is satisfied is placed during the entire sampling
time with the ratio of the time to the sampling time.
Note)
When no trigger is specified, the acquisition of the data will start immediately.
Any of trigger is not avaiable for Pulse input type DSA and I/O Link β i.
The enhanced trigger settings (*) are available for some CNC models only.
Please set trigger timing so that the sampling starts before high speed movement when you use a trigger
function. If there is the high speed movement block before the beginning of sampling, the position data
might be wrong. (→ About a limit of the measurement.)

Sampling period :
You can set sampling period among servo axis and spindle axis and PMC signal individually.
If the sampling periods are different from each other, linear interpolation is performed for the data obtained with the
longer sampling period.
Threfore, one sampling period must be an integral multiple of the other sampling period; setting sampling periods of
2ms and 5ms is not permitted.
When data that is updated at long intervals (such as position data) is measured at high speed, a time lag due to the
difference in update timing may occur.
z For servo axes, 62.5us, 125us, 250us, 500us, 1ms - 100ms may be selected.
But 125us can be selected at HRV2 or upper and 62.5us can be selected at HRV3 or upper. Four channels per
two axes can be measured but the number of channels is limited to one channel per two axes when 62.5us is
selected, and two channels per two axes when 125us is selected.
In the entire NC, up to two channels can be measured when 62.5us is selected, and up to four channels can be
measured when 125us is selected.
z For spindle axis, 500usec, 1msec - 100msec may be selected.
Two channels per a spindle axis can be measured but the number of channels is limited to one channel per a
spindle axis when 500usec is selected.
In case of α spindle amplifiers (DGN No.400#7=0), only 8msec can be selected and 1 channel per a spindle
axis can be measured.
z For PMC, 1ms - 100ms may be selected.
Only one channel can be measured and up to 8 points of PMC signal can be selected in its channel.
z For I/O Link β i, 1ms, 2ms, 4ms or 8ms may be selected.
Two channels per I/O Link β i unit can be measured but CNC axes or different I/O link β i units can not be
measured at the same time.
Comment 1,2 :
You can make the comment on data . This function is used as a memo for example measurement content , parameter
condition and etc.
Even if you don't open the channel setting page , when you click the comment domain upper graph windows , you can
edit the comment.
Time and Date :

Time and date of measurement data (Read Only)
Setting of channel content (Ch1-) :

Detail channel setting page is displayed when you double-click on selecting the list or you click the [setting(P)]
button .
When you want to delete each channel setting , please clear check box on left side .
Caution on setting
z Please set in ascending order on channel number.

z Please set spindle axis after servo axis.
z Please set PMC signal after servo axis and spindle axis.

Axis :
You can set the axis number in which you want to get data. The number is decided in order on NC , not on DSP of
servo .
In OFFLINE mode , axis number is named after both name and number on NC for example [X(1)].
Kind :
You can set the kind of getting data.
Select the kind of data in the following items , POSF(Real position) , VCMD(Velocity command) , TCMD(Torque
command) , SPEED(Real speed) , ERR(position error) , SYNC(Synchronous error on rigid tapping) , etc .
Unit :
You can set the unit. Usually it is not necessary to change the value which is set automatically,
In the case of using operation of polar coordinates conversion, you need to select the unit [deg].
Conversion coefficient :
Set the weight of data. Conversion coefficient and conversion level make a fractional expression against the physical
amount. Conversion coefficient equal to the numerator. Please set the value how much the physical amount against
conversion level, which is raw data unit.
In case of data about position , for example POSF , you need to set the moving distance per 1 pulse ,
in case of data VCMD or SPEED , you need to set 3750 ,
in case of data TCMD , you need to set the maximum current value of connected amplifier.
Conversion level :
Set the weight of data. Conversion level equal to denominator against the physical amount. Please think how much
the conversion coefficient against this level, which means raw data unit.
In case of data about position , for example POSF , this parameter is set 1 automatically,
in case of data VCMD or SPEED , this parameter is set 32768 automatically , (The raw data 32768 means 3750 min-
1.)
in case of data TCMD , this parameter is set 7282 automatically . (The raw data 7282 means the maximum current
value.)
Origin value :
You set initial data of each channel determined when click the origein bottun .
Expanded address :
Usually this is not used .
Shift :
Usually this is not used. Occasionally this parameter is set automatically when you select kind.
When exceeding the limit of measurement, change the shift value.
Explanation :
This page display the explanation of kind selected . In some page , there are supplementary explanation about
conversion coefficient.
Conversion coefficient and conversion level :

The unit of the raw waveform got by measurement doesn't mean the practical value , so it is necessary to convert the
raw signal into the practical value .
Practical value = raw data × conversion coefficient ÷ conversion level

In this time , the data related position signal defines by the unit[mm/pulse] , so you need to operate 1 [pulse] as
conversion level and some [mm] as conversion coefficient.
The raw 32768 about VCMD and SPEED is equivalent to 3750min-1 , so you need to operate 32768 as conversion
level and 3750 as conversion coefficient.
Axis :
Select PMC(-127) for measuring the PMC signals.
You can set signal address at the channel where PMC(-127) is selected as measuring target.
Signal Address :
Set a bit address of PMC signal to want to measure. (up to 8 points)
Signal address G, F, X, Y, A, R, K, D, M, N, E are available. (T, C, Z are not available.)
Set a PMC signal address such as X0008.4
With Multi-path PMC, PMC path number + ":" is required in front of a signal address. (Example: 2:F0001.0)
If no PMC path number is specified, 1st PMC is assumed.
Valid PMC path number : 1,2,3,9(DCS PMC), 5(LOADER)
The others
BIN format compatible :

In the case of loading waveform data that is got by SD.EXE and is saved with BIN format, this check box is checked
automatically.
In the case of measurement with SERVO GUIDE, absolutely you have to confirm that this check is OFF and you
operate channel setting.
In the case of keeping BIN format mode , display must be incorrect due to the different conversion level .
Synchronous mode :
In the case of interpolation on servo and spindle axes for example with Cs contouring control , you have to set this
funcion , but in some cases it may not be effective.
Normally use this function off when α i spindle amplifier is used. (This function is used for α spindle amplifier.)

Auto scale :
In the case of repeating measurement on the common setting , you can select whether to redraw scale automatically or
not .
No redrawing :
The scale isn't redrawn automatically .
Only one time :
The scale is redrawn automatically only measurement data immediately after channel setting . ( Normal
setting )
Every times :
The scale is redrawn automatically every measuring .
To enable auto scale , scale range is changed automatically and the whole waveform is displayed in display area on
graph window . Therefore, when you observe the changing of waveform amplitude , it is useful to fix the scale
without using auto scale function .
Data value scaling:

Offset value can be added to measurement data for each channel.
Normally, it is not required, it may be effective if it is used when the initial position of the axis of rotation in polar-
coordinates conversion shifts.
Data time shift:

Data time of measurement data for each channel can be shifted
Normally, it is not required, it may be effective in the case of interpolation on servo and spindle axes for example with
Cs contouring control.
Available data at servo 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
α i, β i: Set 3750(min-1)
VCMD
Linear(inc): Set 15.36 × Signal Pitch[um]
Linear(abs): Set 7864.32 × Resolution[um]
Torque command
TCMD
Set maximum current value (Ap) of using amplifier
Motor speed
α i, β i: Set 3750(min-1)
SPEED
Linear(inc): Set 15.36 × Signal Pitch[um]
Linear(abs): Set 7864.32 × Resolution[um]

Position error
ERR
T type CNC:
Synchronous error on rigid tap ( only tapping axis )
SYNC B1H1,BEH1,DEH1/15
Set 1. ( It means 4096 pulse per 1 rotation )
or later
Absolute position (221p/rev) detected internal pulse
ABS coder
Set moving pulse per 1 revolution
Estimated disturbance value
DTRQ
Set maximum current value (Ap) of using amplifer
Difference of torque between simple synchronous
axes
DLTCM
When you use this as the parameter setting for
Torque Difference Alarm Level, Please set 1 both at
conversion coefficient and conversion level.
Semi-full error on dual position feedback
SFERR
Backlash compensation
BLCMP
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.
Smooth compensation counter for Synchronous 90B1,90B8/05 or later
ROTDD
built-in servo motor 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 frequency
FRTCM characteristic . )
like torque command
OVC simulation data
OVCLV Set 1. It occurs OVC alarm when the value becomes
100% .
Position error(including delay of FAD)
ERRC
R-phase current
IR
S-phase current
IS
Effective current
IEFF
Active current
IQ
Reactive current
ID

DC link voltage 90B1,90B8/12 or later

VDC 200V SVM: 8192=640V 90BP/02 or later
400V SVM: 8192=1280V 90D0,90E0/15 or later
Position error for monitoring (Parts Learning
ERMON Control) 90D3
S2ST4 Status flag (Parts Learning Control) 90D3
Rotational motor position
SVPOS 90B1,90B8/02 or later
This data is valid for α i servo motor.
90B1,90B8/02 or later
Motor winding temperature
MTTMP 90B6,90B5/04 or later
90D0,90E0/12 or later
Pulsecoder temperature
PCTMP 90B6,90B5/04 or later
Smoothness compensation (Linear)
RPLIN 90B6,90B5/04 or later
R-phase current(PDM slave 1 - slave 4) 90B1/06 or later
IR1-IR4
Set maximum current value (Ap) of using amplifier 90BP/01 or later
S-phase current(PDM slave 1 - slave 4) 90B1/06 or later
IS1-IS4
Set maximum current value (Ap) of using amplifier 90BP/01 or later
ACC1- 90B1,90B8/06 or later
Acceleration sensor data (axis 1 - axis 3)
ACC3 90D0,90E0/12 or later
Servo position data within one rotation
SVPOS2 This data is used for tuning of interactive force 90D0,90E0/16 or later
compensation function.
Interactive force compensation amount (axis 1, axis
IFCMP1,IFCMP2 90D0,90E0/16 or later
2)
Analog signal command
ALGCMD This data is used for tuning of pressure and position 90BP/03 or later
control
Analog signal feedback
ALGFB This data is used for pressure monitor or tuning of 90BP/03 or later
pressure and position control
Analog signal offset
ALGOFS This data is used for pressure monitor or tuning of 90BP/03 or later
pressure and position control
Analog control flag
ALGFLG This data is used for tuning of pressure and position 90BP/03 or later
control
Velocity command from position control
POSVCM This data is used for tuning of pressure and position 90BP/03 or later
control
Velocity command from analog control
ALGVCM This data is used for tuning of pressure and position 90BP/03 or later
control
Available data at spindle axes

The measurable data table on spindle axes is shown.
Because of the communication capacity, the number of channels for spindle axes is smaller than that of servo axes.

Details about spindle data are shown here.
α i spindle
Series and editions of applicable system software
[SYSTEM]
B0H1/05,B1H1/06,BDH1/05,BEH1/06,DDH1/05,DEH1/06 or later
[ETHERNET]
656A/03 or later
[SPINDLE]
9D50/02, 9D53/01, 9D70/01 or later
The number of channel is 2 that is the maximum number when sampling period is 1ms , and 1 channel when sampling period
is 500usec.
Symbol Meaning of measurement data Remarks

Motor speed
SPEED
(4096=1min-1)
INORM Amplitude of motor current
Torque command
TCMD
(16384 = maximum Motor torque 100%)
Motor speed command
VCMD
(4096=1min-1)
Velocity error
VERR
(4096=1min-1)
Motion command per communication period
MCMD
(Cs mode: 360000 or 3600000p/rev, other: 4096p/rev)
Position error
ERR
(Cs mode: 360000 or 3600000p/rev, other: 4096p/rev) 9D50/11 or later*1
Position error (CNC)
ERRC
(Cs mode: 360000 or 3600000p/rev, other: 4096p/rev)
Synchronous error
SYNC
(4096p/rev) 9D50/11 or later*1
Position error at orientation
ORERR
(224p/rev)
ORSEQ Orientation sequence data
Integration of position feedback
PCPOS
(224p/rev)
Integration of position feedback
CSPOS
(360000 or 3600000p/rev)
Motion command per position loop
WMDAT
(224p/rev)
Position error 2
ERR2
(224p/rev)
Position error 2 (CNC)
ERR2C 9D50/11 or later*1
(224p/rev)
Velocity command data from CNC
SPCMD
16384 = motor maximum speed (No.4020)
Spindle speed
SPSPD 9D50/11 or later*1
(4096p=1min-1)
SPCT1 Spindle Control Signal 1
SPCT2 Spindle Control Signal 2

SPCT3 Spindle Control Signal 3 9D50/11 or later*1

SPST1 Spindle Status Signal 1
SPST2 Spindle Status Signal 2
SFLG1 Spindle flag 1 9D50/11 or later*1
SPPOS Spindle position data 9D50/13 or later*2
Load meter data
LMDAT
(32768 = loadmeter voltage 10V) 9D50/11 or later*1
Spindle load torque
DTRQ
(Unexpected disturbance torque detection function) 9D50/11 or later*1
Frequency of disturbance torque
FREQ
(Disturbance input function) 9D50/11 or later*1
Gain data
GAIN
(Disturbance input function) 9D50/11 or later*1
MTTMP Motor winding temperature 9D50/11 or later*1

Motor sensor feedback incremental data
MFBDF (For amplitude ratio and phase deifferenc 9D50/11 or later*1
compensation)
Spindle sensor feedback incremental data
SFBDF (For amplitude ratio and phase deifferenc 9D50/11 or later*1
compensation)
PA1 AD data of A phase of motor sensor 9D50/11 or later*1
PB1 AD data of B phase of motor sensor 9D50/11 or later*1
PA2 AD data of A phase of spindle sensor 9D50/11 or later*1
PB2 AD data of B phase of spindle sensor 9D50/11 or later*1
VDC DC link voltage 9D50/11 or later*1
Semi-full error
SFERR
(Dual position feedback) 9D50/11 or later*1
Semi-closed side error
SMERR
(Dual position feedback) 9D50/11 or later*1
SPACC Spindle acceleration 9D50/20 or later*3
*1) 9D53 series: 9D53/03 or later, 9D70 series: 9D70/02 or later, 9D80 series: 9D80/01 or late
*2) 9D53 series: 9D53/04 or later, 9D70 series: 9D70/03 or later, 9D80 series: 9D80/01 or late
*3) 9D53 series: 9D53/11 or later, 9D70 series: 9D70/10 or later, 9D80 series: 9D80/04 or later
α spindle
The number of channel that you can set is only 1 , and sampling period is 8msec .

Integral value of position feedback from position coder.
PCPOS 9D20/11 or later
(16384p/rev)
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.
CSPOS note ) 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 α i spindle.
Data for current and velocity control
SPEED (Motor speed, 4096=1min-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".
Unit : select A(p)

Conv Coef. : set "640 x Ga/ICNV"
Conv. Base : set 1024
ICNV (current conversion constant) : Setting of Prm.No.4110 (Low speed winding : Prm.No.4146)
Ga (current detecting gain) : Coefficient for SPM model. See following table.
SPM SPM(HV) Ga
SPM-2.2i SPM-5.5HVi
16.67
SPM-5.5i SPM-11HVi
SPM-11i SPM-15HVi 33.33
SPM-15i SPM-30HVi 50
SPM-22i SPM-45HVi 66.67
SPM-26i 100
SPM-30i
SPM-75HVi 133.33
SPM-37i
SPM-45i SPM-100HVi 150
SPM-55i 233.33
TCMD (Torque command, 16384=100%)

"16384(100%)" is maximum torque command.
VCMD (Velocity command, 4096=1min-1)

Velocity command for actual motor speed control.
VERR (Velocity error, 4096=1min-1)

Difference data between velocity command and actual motor speed (VCMD-SPEED).
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 Prm.No.4020)
Set Conv. Coef = setting of Prm.No.4020 and Conv. Base = 16384 to convert the unit to "min-1"

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

Actual spindle speed.
Arbitrary gear ratio (Prm.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.
Rigid tapping mode, Spindle synchronization mode : 4096p/rev
*) In case Prm.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.
Other modes (Spindle synchronization mode, Rigid tapping mode) : 4096p/rev
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.
Prm.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.)
ORER (Position error at orientation, 224 p/rev)

Maximum resolution of this data is "224p/rev" at shift value="0".
In default setting, shift value is "-10" and the resolution is "16384p/rev (360deg)".
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.
High speed orientation

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

Normal orientation
ORSEQ Control state
0 to 2 Orientation command ON (ORCM=0 to 1).
Acceleration/decceleration to orientation speed.
2
Preparing for position control.
2 to 6 Close position loop.
6 Positioning by position gain.
6 to 0 Completion of orientation (ORAR=0 to 1).
PCPOS (Integration of position feedback, 224 p/rev)

Integration data of position feedback indicating the distance from origin point.
CSPOS (Integration of position feedback, 360000 or 3600000*p/rev)

Integration data of position feedback indicating the distance from origin point.
Arbitrary gear ratio (Prm.No.4171 to No.4174) should be set correctly in semi-closed system.
WMDAT (Motion command per position loop, 224 p/rev)

Motion command for actual position control.
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.
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.
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.
SMERR (Position error of semi-closed side, 224 p/rev)

Semi-closed side position error of dual position feedback function.
SPACC (Spindle acceleration, 1=10min-1/sec)

Spindle accelration data.
Resolution of this data is 10 min-1/sec.
Spindle control signal and Spindle status signal (PMC signals)

See following tables for configurations of Spindle control signals and Spindle status signals.
For details about each signals refer to "FANUC AC SPINDLE MOTOR α i series /β i series PARAMETER MANUAL (B-
65280EN)"
SPCT1(Spindle control signal 1)
BIT15 BIT14 BIT13 BIT12 BIT11 BIT10 BIT09 BIT08

RCH RSL INTG SOCN MCFN SPSL *ESP ARST
MRDY ORCM SFR SRV CTH1 CTH2 TLMH TLML
SPCT2 (Spindle control signal 2)

DSCN SORSL MPOF
RCHHG MFNHG INCMD OVR DEFMD NRRO ROTA INDX
SPCT3 (Spindle control signal 3)
SPST1 (Spindle status signal 1)

RCFN RCHP CFIN CHP
ORAR TLM LDT2 LDT1 SAR SDT SST ALM
SPST2(Spindle status signal 2)

CSPEN
EXOF SOREN INCST PC1DT
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 α i series /β i series PARAMETER
MANUAL (B-65280EN)"

TCSAT*3 TRNSNT*2
ORAR ORCM SFR SRV SAR SDT SST FGRD*1
*1) FGRD : 1 rev. signal detecting flag.

*2) TRNSNT : Transient state flag (acc. /dec. state).
*3) TCSAT : Torque command saturation flag.
SPPOS (Spindle position data, 224 p/rev)

Spindle position data from 1-rotation signal.
In default setting, shift value is "-12" and the resolution is "4096p/rev".
You should set shift amount between "-15" and "-10".
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 Prm.No.4127(Low speed winding : No.4093) and Conv. Base = 32768.
DTRQ (Spindle load torque, 16384 = 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)
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 α i series /β i series
PARAMETER MANUAL (B-65280EN)"
MTTMP (Motor winding temperature, degree C)

Motor winding temperature data displayed on DGN No.403.
Resolution of this data is 1 degree C.
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.
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 lambda of BZi sensor.
Set Conv. Coef = (360/Lambda) and Conv. Base = 65536 to convert the unit to "deg."
In default setting, Conv. Coef. is set to "1.40625" for 256 Lambda BZi sensor.
Adjustment procedure of amplitude ratio/phase difference compensation function

Follow the steps below to adjust parameter setting on MID mode.
<1> Rotate the spindle at motor speed/spindle speed = (4685/Lambda) min-1.
<2> Adjust the parameter No.4355/No.4357 (compensation of amplitude ratio) to minimize the
fluctuation band of this data.
<3> Adjust the parameter No.4356/No.4358 (compensation of phase difference) to minimize the
fluctuation band of this data.
For details about this function refer to "FANUC AC SPINDLE MOTOR α i series /β i 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/Lambda min-1. (Lambda : 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/Lambda min-1. (Lambda : 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
Measurement of PMC signal

PMC signals can be measured with the waveform data of servo axis and spindle axis at the same time.
Show series and editions of applicable system software: (30i,31i,32i), (16i,18i,21i)
Specification of PMC signal acquisition
Item Content
Channels(Total) Up to 8 channels for servo axis, spindle axis, and PMC
Channels(PMC) 1 channel, up to 8 points of PMC signal
Sampling period (PMC) 1msec - 100msec (update cycle: 8msec or 4msec)
Address G, F, X, Y, A, R, K, D, M, N, E can be measured.
Signal address
(Address T, C, Z can not be measured.)
Signal range Depending on the PMC model
Limitations about PMC signal acquisition
z It is impossible to measure the data of PMC signal and of I/O Link β i axis together.
Channel setting of PMC signal
z Set PMC signal after servo axis and spindle axis.

Axis:
Select PMC(-127) for measuring the PMC signals.
Signal address:
Set a bit address of PMC signal to want to measure.
Signal address should be set such as X0008.4
With Multi-path PMC, PMC path number is required in front of a signal address. (Example: 2:F0001.0)
If no PMC path number is specified, 1st PMC is assumed.
Valid PMC path number : 1,2,3,9(DCS PMC), 5(LOADER)
Display setting of PMC signal
z To display the PMC signal, use Bit operation of Y-Time display mode.
z Because the measured PMC signals are set from the side of the lower bit according to the address list,
select the bit position of the PMC signal to want to display by "Input2" of the Bit operation.
z Singal address is displayed in the braket for the unit indicator of each draw.

Available data in I/O Link β i.

Available servo data are shown in channel setting.
Show series and editions of applicable system software: (30i,31i,32i), (16i,18i,21i), (PowerMate i)
Two channels can be used for measurement at maximum. As for the number of axis is 1 at maximum.
Setting axis name parameters (024, 025) are recommended for your convenience at channel setting screeen of SERVO
GUIDE.

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
S-phase current
IS
Effective current
IEFF
Active current
IQ
Reactive current
ID
Data 1 for the adjustment
ARB1
It depends on the setting of parameter N.036, N.037.
Data 2 for the adjustment
ARB2
It depends on the setting of parameter N.038, N.039.
Operation setting
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(S) ] menu in graph
window or click shortcut key [F5] , too .
You can set parameters about operation to display each channel data on graph window .
Please set operation for each Draw ( displayed waveform ) in following order .
The order of setting :
1. Basic Graph Mode

2. Available operations
3. Setting of units
4. Load reference path for comparison( if you need)
Basic Graph Mode

Selection of Basic Graph Mode
Please select Basic Graph Mode among following three.
1. 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.
2. 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.
3. 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.
We prepare some sheets to set the scale for every Basic Graph Mode.
z Scale setting(Y-Time) : The scale setting for YT mode

z Scale setting(XY) : The scale setting for XY mode and CONTOUR mode
z 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.)

You can't set the operations for the following special mode. Please use the exclusive menu of Graph Window.
4. Vibration frequency (Fourier Mode)

5. Frequency response(Bode)
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
The vertical axis shows the amount of "Input1". You can select the data of all channels.
YT When you use polar coordinates conversion, please set radius to "Input1" and angle to
"Input2".
R*cos(θ) will be shown at Draw1,3,5,7. R*sin(θ) will be shown at Draw2,4,6,8.
1st order differential data of position will be shown. (It means velocity.)
The vertical axis shows the amount of "Input1".
Diff1(VT)
This can be available only against the channel which get position data.
The polar coordinates conversion can't be used.
2nd order differential data of position will be shown. (It means acceleration.)
Diff2(AT)
3nd order differential data of position will be shown. (It means jerk.)
Diff3(JT)
The tangent speed
The tangent speed of "Input1" and "Input2" will be shown.
Tangent When you use polar coordinates conversion, please set radius to "Input1" and angle to
"Input2"
In this case the tangent speed will be calculated against the position data which is converted
from polar coordinates to normal.
The tangent speed of n-axes
TangentN The tangent speed of n-axes which numbers are specified from "Input1" to "Input2" will be
shown.
The smoothness of feed will be shown.
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.
Synchro
It means the difference between "Input1" and "Input2" (Subtract "Input1" from "Input2").
We suppose that the feedback ratio between them is 1:1 so far.
Bit display
Bit Using for signal data display
Channel is specified by "Input1", and Bit is specified by "Input2"
YT(SPD)

YT(CUR) Using for spindle tuning (Acc./Dec. performance measurement)

ORI(SPD)
ORI(SEQ)
ORI(SPDmax)
ORI(SEQmax)
Using for spindle tuning (Orientation measurement)
ORI(SPDmin)
ORI(SEQmin)
YT(TCMD)
YT(ORERR)
XY mode
Operations Contents
XY display will be shown.
XY
The horizontal axis shows "Input1" and the vertical axis shows "Input2".
XY contour error will be shown.
Contour The horizontal axis shows "Input1" and the vertical axis shows "Input2".
It's necessary to set Reference data to calculate the error.
TqVacc
TqVdec
TVacc Using for spindle tuning (Acc./Dec. performance measurement)
TVdec
TV85%
CIRCLE mode
Operations Contents
Circle contour error will be shown.
Circle The horizontal axis shows "Input1" and the vertical axis shows "Input2".
Please 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(for spindle tuning)
And there is the following supplemental operation.
{ Polar coordinates conversion (XYR)

It's necessary to get the position data of rotary axis among the input channels.
{ Angular axis conversion (XYA)
Please use it for the axes which are use Angular axis control.
The setting of input channels

The available channel list will be shown for "Input1" and "Input2" according to the operations.
If there is no channel to select, the color becomes gray.
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 data of one rotary axis at least. (You have to select "deg" as
the unit.)

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 " .
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 .
Scale setting
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.
z Scale setting (Y-Time)

z Scale setting (XY)
z Scale setting (Circle)
When special graph mode is selected, following special setting page can be displayed.
z Scale setting (Fourier)

z Scale setting (Bode)
Scale setting (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) .
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) .
Related items
Scale setting (XY)

Scale setting (Circle)
Scale setting (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.
A scale setting in XY mode is common to all Draws.
Related items


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.
Related items

Scale setting (XY)

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.
The list of Easy Graph Mode
Mode Explanation
Raw data will be shown. (The horizontal axis means
XTYT mode
time.)
(Ctrl+T)
The data of all channel will be shown.
Velocity display (The horizontal axis means time.)
The 1st order differential will be done against the
VT mode position data of measurement 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 channel. It means
AT mode
acceleration.
(Ctrl+A)
( The differential is not done against the data except
data.)
Cricle error display
The contour error of circle will be shown. The horizontal
CIRCLE mode
axis means CH1 and the vertical axis means CH2.
(Ctrl+B)
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
(Ctrl+X)
CH1 and the vertical axis means CH2.
Tangent velocity display (The horizontal axis means
XTVT mode time.)
(Ctrl+W) Draw1 shows the position of CH1. Draw2 shows the
tangent velocity made by CH1 and CH2.
The smoothness of moving will be shown. (The
horizontal axis means time.)
The smoothness of moving against the measurement
DXDY mode
channel will be shown.
(Ctrl+D)
( This operation is not done against the data except
data.)
CONTOUR The contour error will be shown.
mode The contour error between the reference path and the XY
(Ctrl+O) path made by CH1 and CH2 will be shown.
Switch for Polar coordinates conversion
Please use this for the conversion from the movement by
one rotary axis and one straight axis to two straight axis.
XYR mode
We suppose CH1 is straight axis and CH2 is rotary axis
(Ctrl+R)
in Easy Graph mode.
This can be used with XTYT mode, CIRCLE mode, XY
mode and CONTOUR mode.
Switch for Angular axis conversion
Please use this for the conversion from the movement by
angular axis to perpendicular axis.
XYA mode We suppose CH1 is perpendicular axis and CH2 is

(Ctrl+R) angular axis in Easy Graph mode.

This can be used with XTYT mode, CIRCLE mode, XY
mode and CONTOUR mode.
FOURIER Frequncy analysis (FOURIER conversion)
mode The data, which are calculataed by Fourier conversion
(Ctrl+F) against the display data, of all channel will be shown.
This Easy Graph Mode realize the similar shortcut handling as SD.EXE.
Note) FOURIER mode can be used only in Easy Graph Mode.
Fourier Mode
Outline
This shows the result of Fourier analysis against the vibrating waveform.
The Fourier analysis is done against the data from start time to end time. The magnitude and the Phase will be shown as
vertical axis. (The horizontal axis means frequency.)
Measurement way
Please do the measurement as follows.
1. Please select the time domain which shows the vibration you want to analyze. (Basic mode must be Y-Time mode.)
2. Press [Ctrl+F] or select menu [Mode(M)] → [FOURIER]. You will be able to see the result.
Note)
z The weight of frequency for horizontal axis will be changed according to the time domain you select.
z When you display the result of frequency analysis, you can't save the data to a file. In this case, please return to the Y-
Time mode and after that please save it.
z The log scale display can't be available for horizontal axis.
Frequency Response
Outline
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).
Measurement way

Please do the following way
1. Please select menu [Tool(T)] → [Frequency Response(F)] → [Measure...]. You can see the dialog for "Frequency
Response Measurement".
2. If you select the axis to measure frequency response and press the [Measure...] button, this software makes vibrations
target axis of machine automatically , and you can see the frequency response.
Note) The measurement of frequency response in spindle axes is not supported in this dialog. (Jul. 2004)
To measure the frequency response in spindle axis, please refer to spindle tuning function.
3. If you press the [Detail] button, you can set the optional setting. Please set if you need.
4. In case that you want to draw the Bode diagram again, select menu [Tool(T)] → [Frequency Response(F)] → [Draw
Bode diagram].
5. The options you can set at [Detail] are as follows.
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
Sweep method
servo software series 90B0.
(The way is selected by servo software
series automatically, you don't need change
the way. )
Please 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. Please be careful this point when you
Sweep frequency set the maximum frequency,
Series 9096 : Sampling time is 1msec. So
maximum frequency is 500Hz.
Series 90B0 : Sampling time is 250micro
sec. So maximum frequency is 2kHz.
*The upper fixed value in each series is
adopted as sampling time. (default : from 10
to 1000Hz)
This parameter is amplitude ( of one side )
when we suppose the maximum current of
amplifier means 7282. When the backlash of
Amplitude of the target machine is big, it may be
Input necessary to make the amplitude larger.
If you make this value too big, OVC alarm
may be occurred. Please be careful.
(Default : 1000)
To expand the excess error level at the stop :
The excess alarm may be occured 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.
Other
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.
Note
z You can't measure the frequency response of spinde axis in α spindle system.
z From SERVO GUIDE 2.0 or later, you can save waveform data to file even if Bode diagram is displayed.
z You can see the data only with the log scale display as horizontal axis.
Scale setting (Fourier)

Scales of the graph in Fourier mode (oscillating frequency analysis) can be set here.
Origin:
Set the values of center in Gain-diagram and Phase-diagram.
Division:
Set the values per one grid in Gain-diagram and Phase-diagram.
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.
Scale setting (Bode)

Scales of the graph in Bode mode (frequency characteristic display by bode plot) can be set here.

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.
Cursor function
Description
Cursor function will display the vertical lines or horizontal lines in Graph Window and show the difference, average
value, maximum value, minimum value between the lines.
Cursor function(Y-Time)
This chapter shows the cursor configulation using Y-Time mode as basic graph mode.
Cursor
Following table shows the availability of "Cursor display panel".

Check box Availability

W-info Available only in case of displaying
Available
Available

Following table shows the contents in "Waveform information box".
Display Explanations Note

Ave : Average value of the data between 2 vertical
cursors
RMS : Root Mean Square value of the data between 2
vertical cursors The value is displayed only when a
Max : Maximum value of the data between 2 vertical Draw is selected.
cursors
Min : Minimum value of the data between 2 vertical
cursors
: Difference value between 2 vertical cursors The value is always displayed.
The value is displayed only when a
: Difference value between 2 horizontal cursors Draw is selected.
Cursor function(XY)
This chapter shows the cursor configulation using XY mode as basic graph mode.
Cursor

W-info unavailable
Available
Available


: Difference value between 2 vertical cursors The value is always displayed.
: Difference value between 2 horizontal cursors The value is always displayed.
Cursor function(Fourier)
This chapter shows the cursor configulation using Fourier mode as basic graph mode.
Cursor

W-info Available
unavailable
unavailable

Freq : Frequency value at vertical cursor

The value is displayed only when a
Mag : Magnitude value at vertical cursor
Draw is selected.
Ph : Phase value at vertical cursor
Cursor function(Bode)
This chapter shows the cursor configulation using Bode mode as basic graph mode.

Cursor

W-info Available
unavailable
unavailable

Freq : Frequency value at vertical cursor

Gain : Gain value at vertical cursor The value is always displayed.
Ph : Phase value at vertical cursor
Cursor operation
The cursor showns on Graph Window are selectable and moveable.
This chapter shows the cursor operation.
Selecting way of cursors
z When you left-click the mouse on a cursor, the cursor will be changed to selected mode.
z When you left-click the mouse at somewhere except on the selected cursor, the selected mode will be canceled.
z You can select only one cursor at the same time.
Moving way of cursors
z When you left-drag the mouse on a cursor, you can move the cursor.
z The limitation of cursor move is edge of graph area.
z If you intend to move the cursor over another cursor, both cursors are draged together.

Moving way by arrow keys
z You can move the selected cursor by using [Alt]+[Arrow key].

z The specification of moving cursor by arrow keys is the same as the one of moving cursor by mouse.
Color of cursors
z The color of cursors will be changed according to the color of selected Draw.
z When no Draw is selected, the color of the cursor will be standard color.
Area expanding function

Description
You can select an area and enlarge it by press of on tool bar.
How to use the area expanding function

Area expanding function is available in Y-Time and XY mode.
Next, using way of this function is shown.
1. Start-up Graph Window of SERVO GUIDE.
2. Please push button.

This function becomes enable by this operation.
3. When you left-drag the mouse in the graph, the dotted square will be shown.
Please do the operation at the area where you want to enlarge.
(If you right-click the mouse during dragging, the area selection will be canceled.)

4. When you move the mouse cursor to the frame of the selected area shown in (3), the mouse cursor will be changed
and you can change the size of selected area.
Please do the fine adjustment by this way.
And if you right-click the mouse in this status or left-click out of the selected area, the selected area will be canceled.
5. When you move the mouse cursor into the frame of selected area, the mouse cursor will be changed to the magnifying
glass.
In this status, when you left-click the mouse, the selected area will be enlarged.
Warning
If you do the following operation, the area expanding function will be canceled and returned to graph selection mode.
z Pressing enlargement/shrinkage buttons ( )

z Auto-scaling
z GraphSetting display is opened.
z Operation by the keyboard
z Selecting graph selection mode ( )
z Changing other mode from Y-time or XY
Smooth compensation setting support

Outline
There is a function to support the setting of "Smooth compensation" with using linear motors or synchronous built-in servo
motor(DD motor).
After you measure the ROTOR and TCMD data in Graph window, please select [Linear Motor Comp. Cal] in [Tool] menu.
The following dialog is shown.

If you use synchronous built-in servo motor(DD motor), please measure the ROTDD and TCMD data.
You can get the paraemters to do the "Smooth compensation" only by pressing [Add] and [Calc] button. You can send the
parameters by press [Set param] also.
Please refer the follwoing example in detail.

Procedure of Smooth compensation
Procedure of Acc./Dec. performance measurement

You can measure Acc./Dec. performance of spindle in the following procedure.
1. Select [Tool]→[Spindle Tuning]→[Measurement of Acc./Dec. Performance].

Read precautions described in following start-up window.
z Be aware that spindle is released from control of CNC temporarily while

spindle tuning function is working.
z Make sure to set upper limit of motor speed to avoid rotating over
permissive speed.
z Be aware that spindle may not rotate at commanded speed if improper gear
ratio data is set.
z 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
z Emergency stop signal of CNC (*ESP:G8.4) is invalid like 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.
z In case of synchronous spindle motor, please use spindle tuning function
after performing magnetic pole detection.
2. Select target spindle axis and press [Getting spindle information].
Select spindle in which Spindle Tuning Function is available.

(You see error message if Spindle Tuning Function is unavailable in selected spindle.)
Following parameter settings are required.

Parameter No Setting value
No.4395#7,#6,#3 0,0,1
No.4397#7,#6 0,0
No.4125 - 4126 0
No.4410 - 4415 0
3. You can see "Measurement of Acc./Dec. performance" window.
Only [Spindle condition check] and [Close] are available for the first time.
Select [Spindle condition check] and check spindle condition. (See section 4.)
You can measure after condition check has done. (See section 5.)
4. You can see "Spindle condition check" window.

Check spindle settings (PMC signals, CNC parameters) in "Setting Check" field.
Item Relating CNC parameters/PMC signals
Selected windings RSL, SPSL
Clutch/gear signal CTH1, CTH2
No.4002#3,#2,#1,#0
spindle sensor (No.4178#3,#2,#1,#0 in case of SUB spindle of
spindle switching control.)
No.4056 - No.4059
gear ratio data (No.4216, No.4217 in case of SUB spindle of spindle
switching control.)
No.4171 - No.4174
Arbitrary gear ratio
(No.4243 - No.4246 in case of SUB spindle of spindle
(Motor sensor)
switching control.)
No.4500 - No.4503
(Spindle sensor)
Rotate spindle in "Rotation speed" field and check speed of spindle and motor.
Improper gear ratio data may be set when spindle doesn't rotate at commanded speed.
Check following settings again.
* Clutch/gear signal : CTH1,CTH2
* Gear ratio data : No.4056 - No.4059
(No.4216, No.4217 in case of SUB spindle of spindle switching
control)
Press [Back] after you finish check.
S command
Set S command (spindle speed command).
The allowable data range is between 0 to 100.
Upper limit of motor speed

Set upper limit of motor speed to avoid rotating over permissive speed.

Measurement is aborted when motor speed becomes greater than setting value.
Motor speed
You can see motor speed in real time.
Spindle speed
You can see spindle speed in real time.
SFR/SRV/STOP
Select forward rotation(SFR) / reverse rotation(SRV) / STOP.
(Switching between SFR and SRV is prohibited.
Make sure to stop spindle before changing rotation direction.)
data weight
Set display unit of spindle speed and motor speed.
Relationship between display unit and display range are as follows.
Select appropriate weight according to gear ratio between spindle and motor.
Display unit display range(min-1)
× 10 -32768 to +32767
×1 -3276.8 to +3276.7
× 0.1 -327.68 to +327.67
Back
Close "Spindle condition check" window and return to "Measurement of Acc./Dec. performance" window.
5. All buttons become available after spindle condition check.

Set measurement condition and press [Start].
Output data
Select output data from following 3 items.
Output data Explanation
Speed - Acceleration
Displays acceleration(Acc./Dec.) for each speed.
characteristics
Speed - Acc./Dec. time
Displays Acc./Dec. time for each speed.
characteristics
Speed & Motor current Displays spindle speed and motor current.

S command

Spindle condition check

Open "Spindle condition check" window.
Start
Start measurement.
Close
Quit measurement.
Detail
Toggle of Detail display
Data Points / Sampling Cycle

Sets data points and sampling cycle.
These data should satisfy following condition.
Acc./Dec. time(msec) > data points × sampling cycle + 1000
Normally, set "10000pts" and "1ms".
Idle time between end of acceleration and beginning of deceleration

Sets idle time between end of acceleration and beginning of deceleration.
The allowable data range is between 0 and 32767.
Normally, set "0".
Acceleration detection filter time constant

Sets filter time constant for acceleration detection.
The allowable data range is between 0 and 100.
Normally, set "0".
Rotation direction of motor (SFR/SRV)

Sets rotation direction of motor from either SFR or SRV.
(SFR:Forward rotation, SRV:Reverse rotation)
6. You can see measurement window and data acquisition starts.
7. You can see waveforms according to output data format after measurement.
Selection of Speed - Acceleration characteristics

Selection of Speed - Acc./Dec. time characteristics
Selection of Speed & Motor current
Procedure of orientation measurement

The procedure of orientation measurement is as follows.
1. Select [Tool]→[Spindle Tuning]→[Measurement of orientation].


permissive speed.
ratio data is set.
working.
operation.



No.4015#0 1
No.4395#7,#6,#3 0,0,1
No.4397#7,#6 0,0
No.4125 - 4126 0
No.4410 - 4415 0
3. You can see "Measurement of orientation" window.


No.4002#3,#2,#1,#0
No.4056 - No.4059
switching control.)
No.4171 - No.4174
(Motor sensor)
switching control.)
No.4500 - No.4503
(Spindle sensor)
control)
S command

Motor speed
Spindle speed
SFR/SRV/STOP
data weight
Display unit display range(min-1)
× 10 -32768 to +32767
×1 -3276.8 to +3276.7
× 0.1 -327.68 to +327.67
Back
Close "Spindle condition check" window and return to "Measurement of Acc./Dec. performance" window.

Output data
Select output data from following 4 items.
Output data Explanation
Orientation time Spindle speed and orientation sequence are displayed.
Speed, Torque command Spindle speed and torque command are displayed.
Speed, Orientation error Spindle speed and position error are displayed.
S command

1 rotation signal
Status of 1rotation signal detection is displayed.
In case of 18iLNB or the status is undetectable,"-" sign is displayed.

Start
Start measurement.
Close
Quit measurement.
Detail
Data Points / Sampling Cycle

Sets data points and sampling cycle.
These data should satisfy following condition.

Acc./Dec. time(msec) > data points × sampling cycle + 1000
Normally, set "10000pts" and "1ms".
Rotation direction of motor (SFR/SRV)

Sets rotation direction of motor from either SFR or SRV.
(SFR:Forward rotation, SRV:Reverse rotation)
Incremental command (INCMDx)

Set the usage of incremental command.
If you use command multiply, set the parameter No.4328 before starting up the spindle tuning function.
Stop position setting

Set the stop position command of incremental mode (SHx00-SHx11).
Setting range: 1-4095 (4096/rev).
Note : This item is avairable in incremental mode only.
Times of orientation action

Set the times of orientation action (1-10).
Note : Abairable in time measuring mode only.
7. You can see waveforms according to output data format after measurement.
Orientation time
Speed, Torque command

Speed, Orientation error
Procedure of frequency response measurement

The procedure of frequency response measurement is as follows.
1. Select [Tool]→[Spindle Tuning]→[Frequency Response Measurement].



permissive speed.
ratio data is set.
working.
operation.


No.4395#7,#6,#3 0,0,1
No.4397#7,#6 0,0

No.4125 - 4126 0
No.4410 - 4415 0
3. You can see "Frequency response measurement" window.

No.4002#3,#2,#1,#0
No.4056 - No.4059
switching control.)
No.4171 - No.4174
(Motor sensor)
switching control.)
No.4500 - No.4503
(Spindle sensor)
control)
S command

Motor speed
Spindle speed
SFR/SRV/STOP
data weight
Display unit Display range(min-1)
x 10 -32768 to +32767
x1 -3276.8 to +3276.7
x 0.1 -327.68 to +327.67

Back
Close "Spindle condition check" window and return to "Frequency response measurement" window.


Control mode
Select control mode of spindle from following table.
Control mode
Velocity control mode
Cs contouring control mode
Servo mode
Orientation mode
Spindle synchronous control mode
Measurement start frequency, Measurement end frequency

Set measurement start frequency and measurement end frequency.

The range of frequency to be measured is from 1 to 3000Hz.
Measurement frequency interval

Set interval of frequency to be measured.
Number of sinusoidal wave per frequency

Set number of sinusoidal waves per frequency.
Amplitude of disturbance torque command

Set amplitude of disturbance torque command.
Velocity command offset

Set spindle speed command (offset speed) in measuremt.
Motor speed command can be set by setting negative value.
Example of setting
Setting value: 1000 → Spindle speed command : 1000[min-1]
Setting value: -1000 → Motor speed command : 1000[min-1]

Start
Start measurement.
Close
Quit measurement.
Detail
7. You can see waveforms.

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.
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.

2. Here, add offset value to the measurement data of the axis of rotation.
(You can access the following dialog from Channel Setting dialog.)
3. As a result of adding offset value, it is found that XY path does not lean in the error expansion display as follows.

Measurement data time shift

Function explanation
Data time of measurement data for each channel can be shifted.
When measuring the data of a servo axis and a spindle axis simultaneously, a time synchronization of the data measured
according to factors, such as a difference in a sampling cycle and updating timing of internal data, may not suit. By using this
function, the display shifted in time between the measurement data of each channel can be performed.
In addition, in case it shifts in time, extrapolation is performed to the time domain where measurement data is not exist. (You
can access the following dialog from Channel Setting dialog.)
The sign of time-shift means as follows.
+ (plus)
Time delay for measurement data
- (minus)
Time lead for measurement data
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.

Limitation of measurement
Feedrate which can be measured
The maximum measurable feed-rate is less than 16000 counts per 1 msec. (This is equivalent to 960m/min for 1um
detection unit, and 96m/min for 0.1um detection unit)
If it is less than the above-mentioned feed-rate, all servo position data are completely captured, otherwise the data
may be missed and a mistake of position can occur.
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, set up the trigger timing before high-speed movement.
Difference from SD.EXE

The main difference with SD.EXE

"SD.EXE"
Conventional MS-DOS-based servo tuning software
Architecture
z Change of a data acquisition system

{ Servo check board is not used but the data acquisition system using internal buffer RAM of NC is adopted.
{ The time synchronization of measurement data is maintained in principle.
{ The data of a spindle can also be measured.
{ The number of the maximum measurement channels is increasing (Max. 6CH).
z Change of a trigger system
{ It has changed into the trigger by N number in a NC program instead of the trigger by coordinates.
(However, a possibility that position data will shift if it is made to move at high-speed while waiting for
trigger.)
Measurement data display
z Change of measurement data operation processing

{ Measurement data and display data are separated.
{ The result which added separate operation to the same measurement data can be simultaneously displayed
now. Conseqently, flexible selection of a data display (especially to time-axis mode) is possible.
z The separation display of gain and phase in Fourier mode (oscillation frequency analysis) is realized.
The values displayed in Waveform infromation box

This chapter explains meaning of the values displayed in "Waveform information box" and shows some matters that require
the attention.
Values displayed in AVE and RMS

The values mean the average value of the data between 2 vertical cursors.
(AVE is normal average value. And RMS is Root Mean Square value.)
If there is no data between 2 cursors, "-" will be shown.
If the cursor is over the area where there are some data, the average value will be calculated only by the existing data.
Note)
The graph line is shown by connecting each data.
There may be no data on the graph line between 2 cursors in case that the data intervals are big.

Values displayed in MAX and MIN

The values mean the maximum and minimum value of the data between 2 vertical cursors.
If there is no data between 2 cursors, "-" will be shown.
If the cursor is over the area where there are some data, the average value will be calculated only by the existing data.
Note)
There may be no data on the graph line between 2 cursors in case that the data intervals are big.
Values displayed in ,
The value means the differential value between 2 vertical or horizontal cursors.
Note)
The cursor position is finely calculated with decimal point in the software.
Therefore the cursor position has some error between the value you can see and the internal value. (For example,
when the cursor position can be seen just on 1000, the internal position value might be 1000.9.)
Values displayed in Freq, Mag, Gain and Ph

The values mean frequency value, magnitude value, gain value, and phase value at the point of cursor respectively.
Note)
There may be no data at the cursor position.
In such case, the value will be shown by the nearest data.
Cursor position at enlargement and shrinkage of the graph

z When you enlarge or shrink the graph, the cursor positioin will be maitained in the viewpoint of scale value.
Therefore the cursor will follow the scale value according to the enlargement and shrinkage fo the graph.

z The vertical side in Y-Time mode can't be enlarged or shrinked if you don't select a Draw.
When you select a Draw, the cursor position will be enlarged or shirinked with the selected Draw together.
It is due to the specification that the vertical scale has several scales in each Draw.

z When you enlarge the graph and the cursor position become out of graph area, the cursor will stay at the edge.
In such status, after you shrink the graph, the cursor position will return again.
Initial status of the controls related to cursors

This chapter shows the initial status of "Cursor" and "Cursor display panel".
The initial status is different at first start-up and at other time.
Cursor
First start-up Displayed at 1.5 division from the edge of graph
Displayed at the same position as the window which was active
Other time
last time.
Cursor disp. panel

First start-up Check OFF
Displayed at the same position as the window which was active
Other time
last time.
Outline of program window

If you press the [Program] button in main bar , you see the following dialog .

It is necessary to change to MDI mode on NC and to select the display except for program edit display. Position display is
recommended .
In upper dialog , if you press the [OK] button , you see the following window .
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 NC'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 .
Note) 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.
FS16i-MB : B0H1/20 or later
FS16i-TB : B1H1/20 or later
FS18i-MB : BDH1/20 or later
FS18i-TB : BEH1/20 or later
FS18i-MB5 : BDH5-10 or later
Note) 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/.

Menu
This page explains for the menu contents in program window .
z 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 NC(Ctrl+T)
This function is to load the program from program memory in NC.
* At the time of the FS16i series connection
You can select the program number in the dialog as following one.

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 is occurred for some reason , this command will
restore the communication.
( Example , it is necessary to turn off the NC 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.
z Edit
You can edit directly the program in program edit box . You can use the following commands like ordinary
editor .
* Cut(Ctrl+X)
* Copy(Ctrl+C)
* Paste(Ctrl+P)
* Select All(Ctrl+A)
* Search(Ctrl+F)
z Display
* Tool bar
This function is to swich ON/OFF of tool bar .
z Tool
* Sub-program transmission(Ctrl+B)

It is transferred to the program memory of NC in the O number which established the program
made by the program editing box by the number choice button.

It is transferred to the program memory of NC 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 NC . After that process , if you press the [Cycle
start] , you can run the program .
* Delete program on NC
This function is to delete the program on NC's memory . You can select the program you want
to delete in the dialog .
Tool bar of program window

Tool bar
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] command button in [Display] menu .
Tool Function
Clear the program and make new program
Open the program ( text format )
Load the program from NC
Save the program ( text format )
Print the program
Cut the program code
Copy the program code
Paste the program code
Transmit the Sub-program
Transmit the Main-program
Usage
z ON LINE
You can make the test program in the following process .
1. The first is to select the path to use.
Note) 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 .
Note) Now , there is the limit in making the following 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 .
3. Please select system type.
Note ) In ON LINE mode , when the program window start up , automatically the parameter will be loaded and the
upper setting will be set . LN = 18i-LNB
4. If you use the lath , it is necessary to set the following item .
Note ) In ON LINE mode , when the program window start up , automatically the parameter will be loaded and the
upper setting will be set .
5. Please select the axis to use.
Note) 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).
Moving Input the moving distance of one way on the back and
distance forth Acc/Dec .
In the square or the square with 1/4 arc ( include Cs ) ,
input the side segment length. In case of the square
Side segment
with 1/4 arc , it is necessary to input the straight length
except for the arc line .
Input the distance from R point to screw bottom on the

screw length rigid tapping mode .

Input the radius of the circle . In case of the square
Radius
with 1/4 arc , 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.
Input the spindle speed by the "min-1" unit on the rigid
Spindle speed
tapping mode .
Spindle
Input the M code to start spindle revolution in the rigid
revolution
tapping mode . ( Usually M29)
Mcode
Input the repeat count of program . If you want to
Count
move round twice , input "2" here .
The program only on Cs contouring control is
interpolated with polar coordinates .
Start point X
Then , it is necessary to make the program with
coordinate
absolute coordinate
and to input the X coordinate of the start point.
This function is to select preview control , AI
contouring control and etc .
High precision This combo box is displayed all of high speed & high
function precision functions regardless of NC's option setting.
There is the case that you can't use some function
actually .
High-speed
If you run the program in HRV3 mode , please check
HRV control
this .
enable
In Graph Window , you can set the start trigger of
N number for measurement by the N number .
trigger When you set a number here, N number is added in
program head .
Note) The unit of numerical value to input varies according to setting of NC. (mm or inch)
7. Please press the [Apply] button .

You can see the program path made by SERVO GUIDE .
8. You can edit directly the program codes in program edit box . Please 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.
FS16i-MB : B0H1/20 or later
FS16i-TB : B1H1/20 or later
FS18i-MB : BDH1/20 or later
FS18i-TB : BEH1/20 or later
FS18i-MB5 : BDH5-10 or later
12. You can save the made program as the file . You can print , too .
z OFF LINE
You can make the program without NC . Please make the programs in the process (1 ,2 ,3 ,4) .
You can save and print the made program same as the ON LINE state.
Outline of Tuning navigator

If you press the [Navigator] button in main bar , you see the following dialog .
Please select on item to tune in this menu.
Tuning navigator detemine the parameters, getting waveform from CNC automatically. Therefore please 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, please
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.
Servo
This is the automatic tuning of
velocity gain. It determines the
Initial Gain- gain, moving the target axis and
Tuning measuring frequency response.
When you've not tune the gain
yet, please select this menu first.
HRV filters(Resonace
elimination filters). It detemines
Filter-Tuning the optimum filter setting by
detecting resonance frequency
with the gain which is detemined
Initial Gain-Tuning.
After application of above filters,
Gain-Tuning this wizard raise the gain more by
automatic tuning.
This is the parameter decision of
Tuning of
Automatic Backlash
quadrant
Acceleration. (available only in
protrusion
Series 30i,31i,32i)
Tuning of time time constant for rapid traverse.
constant for It determines the time constant
rapid traverse with moving the axis and
watching peak torque.
The wizard, which makes the
tuning for High speed & High
precision easy, will start. The
plural parameters, which are
High speed &
related High speed & High
High precision
precision function, can be
Tuning
determined easiliy by only one
slider. The square with 1/4 arc
program is used for the
evaluation.
Spindle
HRV filters(Resonace
Filter-Tuning elimination filters). It detemines
the optimum filter setting by
detecting resonance frequency.
Flow of tuning
1. At first, the explanation of this tuning is shown.

2. Please select target axis to tune.
Choose Master Axis when you use Synchronous control or Tandem control.
If the slave axis is selected, SERVO GUIDE changes the target axis to the master side automatically.
And, it doesn't support the adjustment of synchronous axes which have more than one slave axis.
3. The test program, which is the 10mm (0.394inch in case that input unit is inch) go-back cutting as default, is shown.
You can change it directly in the Edit-Box. (But please don't change to a rapid-traverse program. Please use cutting a
program.)
As the O-number 99 is used for this test program as default. if you have same number program, please press [Select]
button to change O-number.
The name of test program on FS30i becomes SVG_AUTOTUNE as fixed name, and it can't be changed.
→ FS16i series, 0i-D

→ FS30i series
4. Please 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, please turn them OFF.)
5. Please 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, please change "Amplitude" larger.
On the contrary, if the vibration is too much and some alarms(OVC alarm etc.) are occurred, please change
"Amplitude" smaller.
Please set "Change position loop gain" to neglect the position gain effect during the measurement of frequency
response of velocity loop.
Please set "Change error limit" to avoid "Excess error alarm" during the measurement.
Note) Whenyou use "Dual check safety function", please turn it OFF.
6. Please press [Start] button to measure the frequency response.

When you press [Start] button, the test program is transmitted to CNC first. Please 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. Please wait until the message "Measurement is completed".
Note) In case of synchronous axes and tandem axes, disturbance input is executed both 2 axes at the same time for
measurement of frequency response.
Note) In first try, PC may starts to get data without trigger waiting just after press [Start]. At the case, please try again
after moving machine by press of Start button on the machine MDI. The waiting trigger must be done correctly at
your second try.
Refer to this if a trigger doesn't work well when you press a measurement button.
After measurement, the waveform must be shown on Graph Window.
Note) In case of synchronous axes and tandem axes, the measurement result only of the master axis is shown.
Please press [Next>] button.

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 ayy resonance, is shown like following.

SERVO GUIDE finds the resonance point and determins 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, please press [Recalc] button. The calculation is executed again.
Note) In case of synchronous axes and tandem axes, the optimum filter value is decided only from the character of the
master axis. And the values are applied to both master axis and slave axis.
The final setting of the gain can be changed manually by changing edit-box directly.
8. We measure the frequency response again to confirm the effect of gein up.
The procedure is same as 6.
You can see the effect of gain up by comparison of red line(former response) and blue line.
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, please change manually by changing edit-box directly.
When the result satisfy you, please 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, please execute [File]→[Reload] in Parameter window to refrect the
changed parameters.
Flow of tuning

3. The test program, which is the 10mm (0.394inch in case that input unit is inch) go-back cutting as default, is shown.
You can change it directly in the Edit-Box. (But please don't change to a rapid-traverse program. Please use cutting a
program.)
→ FS30i series

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, please turn them OFF.)
5. Please 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, please change "Amplitude" larger.
On the contrary, if the vibration is too much and some alarms(OVC alarm etc.) are occurred, please change
"Amplitude" smaller.
Please set "Change position loop gain" to neglect the position gain effect during the measurement of frequency
response of velocity loop.
Please set "Change error limit" to avoid "Excess error alarm" during the measurement.
Note) Whenyou use "Dual check safety function", please turn it OFF.
Note) In case of synchronous axes and tandem axes, disturbance input is executed both 2 axes at the same time for

measurement of frequency response.

your second try.
Note) In case of synchronous axes and tandem axes, the measurement result only of the master axis is shown.

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.
limit the frequency domain to evaluate it. It is from 100Hz to 800Hz as default, but you can change it. (If you change
it, please press [Recalc] button. The calculation is executed again.)
Note) In case of synchronous axes and tandem axes, the optimum filter value is decided only from the character of the
master axis. And the values are applied to both master axis and slave axis.
The coefficient of filters can be changed manually by press [FilterX] button.

8. We measure the frequency response again to confirm the effect of filters.

9. After watching the result, you can change the coefficients of filters manually by press [FilterX] button.
After changing the coefficients, please press [< Back] button and execute the measurement again.

changed parameters.
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 realize the high gain by cutting the gain
margin.
The procedure of "Gain-Tuning" is exactly same as "Initial Gain-Tuning". Please refer the following hyper link.
The flow of Gain tuning
Flow of tuning
Show series and editions of applicable system software
1. Please make enough tuning of velocity control loop (Gain and Filter tuning) before executing this menu.
3. Next, please select target axis to tune.

The axis specified by "Axis 1" becomes the tuning target.
If you want to tune 2 axes, please swap the axes after finish tuning of first axis.
SERVO SOFTWARE 90D0/15 or later OR 90E0/15 or later IS REQUIRED.(Supporting the tuning for Synchronous

axes and Tandem axes)
When you press [Next] after selecting axes, the parameters ,which has the possibility to be changed, will be saved in
the following file as the back-up.
If Tuning Navigator will be abnormal termination during the tuing, please set some parameters back by comparison
with the back-up file.
Backup file:My Documents\SERVO GUIDE\SVGBLA.DAT
The folder to store the back-up file will be made automatically. And you can't change the name of the back-up file.
4. The three test programs, which have different feedrate, will be shown. (Circle program of 10mm radius)
Please don't change the circle radius(R10[mm]) and the feedrate(F3000, F1500, F300 [mm/min]).
The name of test programs are fixed "SVG_AUTOTUNE01, 02 and 03" respectively. You can't change the names.
5. Set some parameters for this tuning in advance.
{ Feed-forward enable (Required)

{ FF timing default value enable (Required)
{ FF coefficient 100% (Recommended)
{ Position gain 3000 or so
If it is too much, the convergence of learning result will be worse. So you have to set a smaller value
temporarily.
{ Tolerable aceleration
Set small value not to make a shock at the start point.
But set lager value than the acceleration of test program. (250mm/sec/sec).
6. Set some parameters for Learning Control.

You don't have to change them basically.

7. Main window for tuning
Please execute in order Program selection →Learning(First measurement)→Measurement→Calculation.

You can measure the optimum compensation value for quadrant protrusion in each feedrate.
Program selection(P)
Please change the feedrate of the circle. When you change the feedrate, the learninig results in the former
speed will be deleted.
Learn & Measure(1)
When you press Measurement button with checking "First measurement", Tuning Navigator will execute the
circle program 5 to 10 times, and learn the optimum compensation value.
After that, please confirm the measurement result in circle display mode, and repeat it untill the protrusions
become enough small.
Calculate comp(2)
Tuning Navigator will calculate the compensation parameter from the measurement results.
But you can't use this just after first measurement.

Modification(3)
You can modify the calculation results manually with displaying waveform.
8. Explanation for parameter confirmation window

The parameters for quadrant protrusion compensation are shown.
You can change the weight of override parameters.

{ Acceleration standard
Linear acceleration
Acceleration override depends on linear acceleration.
Square root of the acceleration
Acceleration override depends on square root of the acceleration. (Improved)
{ Acceleration override format
Standard
Default weight
Resolution priority
The resolution of the acceleration will be better. But the maximum acceleration will be limited.
Acceleration 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
Override format regardless of detection unit. (Improved)
{ Damping override format
Standard
Default weight
Resolution priority
The resolution of the damping override will be better.
9. Explanation for parameter confirmation window (part 2)
The parameters for directional compensation are shown.
10. Confirmation window

You can measure the circle status by using detemined parameters. (The compensation parameters are applied only in
the horizontal axis side.)


You can see the changed parameter list
changed parameters.
Flow of tuning

And, this wizard doesn't support the following axes.

If the slave axis is selected, SERVO GUIDE changes the target axis to the master side automatically. And, it
doesn't support the adjustment of synchronous axes which have more than one slave axis.
The axis using "Optimum torque acceleration/deceleration function"
3. The test program, which includes go-back movement from +500mm to -500mm at a rapid feed speed, is presented.
You can change it directly in the Edit-Box. (But please obey the following rules.)
[Test program condition]
- Describe N1 and N999 at the head of the line of rapid movement. and N1 should be presented first.
- The one line of dwell command can be acceptable between N1 line and N99 line.
- Please command same distance in N1 line movement and N99 line movement.
- Please take care not to be over the over travel area regarding the command specified in N1 and N999 line.
When the command over the stored stroke check 1 for the over travel, SERVO GUIDE will indicate a warning.
- The default program is shown as following.
G91G94
N1G00X-500.00
G04X1.
N999G00X500.00
M99
The default program will be made based on incremental command.

The absolute command can be available, but please pay attention to be same moving distance both in N1 line and
N999 line.
The O-number of test program is O99 as default. If you don't want that O99 is over-written, please change O-number

by press [Select] button.

(The name of test program on FS30i becomes SVG_AUTOTUNE as fixed name, and we can't change it.. )
-> FS16i series, 0i-D
-> FS30i series
A tool hint is indicated when the cursor crosses the check box. Please refer it.
5. A condition to measure the torque command is set here.

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

"Linear type time constant for rapid traverse" is set to 300 and "Bell type time constant for rapid traverse" is set to 96
as default value.
And, When the "Linear acc./dec. before interpolation for rapid traverse" is used with the setting of "Always AI
contour control effective" in FS30i series, "Linear type time constant for rapid traverse" changes into "Linear
acc./dec. before interpolation for rapid traverse". And, the unit changes into the unit of the acceleration, too.
Note) This wizard doesn't support the tuning of "Linear acc./dec. for rapid traverse" for FS16i series.
-> This figure shows the case using "Linear acc./dec. before interpolation for rapid traverse" under the condition of
"Always AI contour control effective" in FS30i series.
6. Please press [Start] button to measure the torque command.
When you press [Start] button, the test program is transmitted to CNC first.
Please 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. Please wait until the message "Measurement is completed".

your second try.

7. The recommended value is shown.
If you want to change the recommended value, please change the Edit Box directly.
If you want to confirm the torque command after changing, please return to the former dialog by pressing [<Back]
and execute the measuremnet again.
Note) In case of synchronous axes and tandem axes, the time constant is applied to both master axis and slave axis.
changed parameters.

Flow of tuning
2. Please select target axes to tune.
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.

→ FS30i series
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 recomends, are shown initially in the boxes as default. You can easily set the interporated
value from both side by this system.
In this screen, when you press [Next>] button, the parameters to change are transmitted to CNC.
Note) In case of synchronous axes and tandem axes, the parameters which should be changed are applied to both
master axis and slave axis.
This is the explanation of other buttons on this screen.

Return to
initial It returns the parameter settings to the initial value.

parameter (Both PC-side and NC-side)

The paraemter sets for speed priority and precision
Change
priority can be changed. If you change them, the values
recommended
are remembred by Registory data base. They are
value
always used after that.
Reset
It returns the value of recomended parameter sets to
recommended
initial FANUC recommended one.
value
Please turn off the check box, if you want the
The check box
parameter.
left-side of
The check box may be automatically OFF according to
each functions
your option configuration.
5. Please press [Start] button to start the test program.
your second try.
Following waveform should be shown in Graph window after finish of measurement.(*1)
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.(*1)

If you can't satisfy the result, press [<back] button and change parameters again.
*1) Supplement: GraphWindow shows the diagram in mm unit even in case of inch system.
changed parameters.
Flow of tuning
Tuning advance as follows.
1. Please check first, displayed descriptions and notes.
2. Please select target spindle to be tuned.

3. Please select control mode in measurement of frequency response.
4. Please set measurement conditions for frequency response.
At first, [Next >] button is grayed out.

If set upper limit of motor speed, you can select [Next >] button.

If press [Start] button, measurement conditions are transmitted to spindle. And spindle starts to work automatically.
Please wait until the message "Measurement is completed".
Refer to here for explanations of control mode and measurement conditions.
Please press [Next >] button.
6. 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.
limit the frequency domain to evaluate it.
It is from 100Hz to 800Hz as default, but you can change it.
(If you change it, please press [Recalc] button. The calculation is executed again.)
The coefficient of filters can be changed manually by press [FilterX] button.
7. We measure the frequency response again to confirm the effect of filters.

8. After watching the result, you can change the coefficients of filters manually by press [FilterX] button.

If coefficient of filters is changed, press [FilterX] button.

After changing the coefficients, please press [< Back] button and execute the measurement again.
When the result satisfy you, please check [Is it O.K.?] and press [Next >] button.
As required, torque command filter time constant (Parameter No.4121 or No.4157) can be changed.
changed parameters.

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General warnings Page 1 of 6

General warnings and cautions

z Supporting Series 0i-MODEL D.

Ethernet connection only

file://C:\Documents and Settings\morrisd\Local Settings\Temp\~hh5332.htm 2/23/2010

[Ethernet & OPEN CNC]

(Note 2) Windows 95 is NOT available.

* Windows is trademarks of Microsoft Corporation in the United States.

file://C:\Documents and Settings\morrisd\Local Settings\Temp\~hh5332.htm 2/23/2010

1. Installation of SERVO GUIDE main part

(1) Insert SERVO GUIDE installation disk to CD drive.

2. Installation of FFG calculation software

(1) Insert SERVO GUIDE installation disk to CD drive.

Delete Registry Info.

Starting SERVO GUIDE

file://C:\Documents and Settings\morrisd\Local Settings\Temp\~hh5332.htm 2/23/2010

(1) Click the [Start] button at the Windows95/98/Me/NT4.0/2000.

2. Starting the Flexible Feed Gear calculation software (FFG soft)

(1) Click the [Start] button at the Windows95/98/Me/NT4.0/2000.

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This window support you to make the test program to tune .

Tuning navigator supports you by step-by-step Wizard.

Please use this wizard with connecting to CNC.

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Function Support Table

1. SERVO GUIDE (Basic function)

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General trouble shooting

z The screen is unstable.

Spindle Tuning function

z Invalid operation error occurs.

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z Tuning of time const for rapid

z Circle measurement for angular axis

z Tuning of square with 1/4 arc

z Tuning of Cs contour control

z Measurement of vibrational frequency

z Measurement of frequency response

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2. Please decide the program by pressing the [Apply] button .

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That's all prepare in program window .

Preparation for measurement

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4. Returning main window , this setting is terminated .

→ Next page Measurement

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( The mode changes to trigger waiting mode . )

4. The following window is the sample of the measurement data .

Blue : Motor speed

5. By the following button , the waveform is zoomed in or out suitably .

You can see the waveform for example following one .

→ Next page Tuning of parameters

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1. The first procedure is to open the Parameter Window in ONLINE state .

3. The third procedure is to set time constant smaller on rapid feed .

4. The fourth procedure is to measure the data again .

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2. The second procedure is to set for measurement in Graph Window .

2. Please decide the program by pressing the [Apply] button .