Add Info B-63614EN 01

ADDITIONAL INFORMATION
FANUC Series 21i/210i/210is - MA OPERATOR’S MANUAL

FANUC Series 21i/210i - MB OPERATOR’S MANUAL
Explanation change and addition of Rigid tapping
1.Type of applied technical documents

Name
Spec.No./Ed. B-63094EN/02, B-63614EN/01
2.Summary of Change
New, Add,
Applicable
Group Name/Outline Correct,
Date
Delete
Basic
Optional The explanations of “13.2 RIGID TAPPING” are Change,

changed and added. Immediately
Function Addition
Unit
Maintenance
Parts
Notice
Correction
Another
21i/210i/210is - MA
TITLE 21i/210i - MB OPERATOR’S MANUAL
Explanation change and addition of “Rigid tapping”
01 01.10.25 Newly Registered No. B-63094EN/02-3, B-63614EN/01-1
EDT. DATE DESIGN DESCRIPTION PAGE 1/2

13.2.1 Rigid Tapping Cycle (G84)
13.2.2 Left-Handed Rigid Tapping Cycle (G74)
The description of “FS10/11-format command” is changed and the description is added to “S command”.
Explanations
FS10/11-format command
Rigid tapping can be performed using FS10/11-format commands. The rigid tapping sequence
(Including data transfer to/from the PMC, e.t.c.), limitations and so on are according to those
of FS21i.
Limitations
S command
· The S command, which is specified at rigid tapping, is cleared at commanding Rigid
Tapping Cancel and the condition is the same that S0 is commanded.
13.2.3 Peck Rigid Tapping Cycle (G84 or G74)
The description is added to “S command”.
Limitations
S command
· The S command, which is specified at rigid tapping, is cleared at commanding Rigid
Tapping Cancel and the condition is the same that S0 is commanded.
13.2.4 Rigid Tapping Cancel (G80)
The chapter “13.2.4” is changed.
The rigid tapping cycle is canceled.

For how to cancel this cycle, please see II-13.1.14.
Note
When Rigid Tapping Cancel is commanded, the S command, which is used at rigid
tapping, is also cleared. (It is the same that S0 is commanded.)
Therefore, the S command, which is specified for rigid tapping, can not be used at
blocks after Rigid Tapping Cancel. Please re-specify S command after Rigid Tapping
Cancel if necessary.
21i/210i/210is - MA
TITLE 21i/210i - MB OPERATOR’S MANUAL
Explanation change and addition of “Rigid tapping”
01 01.10.25 Newly Registered No. B-63094EN/02-3, B-63614EN/01-1

Alarm for FANUC SERVO MOTOR β series I/O Link Option
(FANUC Series 21i/210i/210is – MA OPERATOR’S MANUAL)
(FANUC Series 21i/210i – MB OPERATOR’S MANUAL)
１．Type of applied technical documents
FANUC Series 21i/210i/210is – MA OPERATOR’S MANUAL

Name
FANUC Series 21i/210i – MB OPERATOR’S MANUAL
Spec. Ｂ－６３０９４ＥＮ／０２、Ｂ－６３６１４ＥＮ／０１
No./Version
２．Summary of Change
New,Add Applicable
Group Name／Outline Correct, Date
Delete
Basic
Function
Optional ALARM FOR FANUC SERVO MOTOR β series Add Immediate

Function I/O Link Option
Unit
Maintenance
Parts
Notice
Correction
Another
ALARM FOR FANUC SERVO MOTOR β series I/O Link

Option (FANUC Series 21i/210i/210is–MA
TITLE OPERATOR’S MANUAL), (FANUC Series
21i/210i–MB OPERATOR’S MANUAL)
01 020319 DRAW B-63094EN/02-5, B-63614EN/01-2
EDIT DATE DISIGNE APPROV. DESCRIPTION FANUC LTD SHEET 1/8

Please add the following description in ”APPENDIX G. ALARM LIST” .
Case of B-63094EN/02-5
11) ALARM FOR FANUC SERVO MOTOR β series I/O Link Option
Case of B-63614EN/01-2
12) ALARM FOR FANUC SERVO MOTOR β series I/O Link Option
Alarm for FANUC SERVO MOTOR β series I/O Link Option can be confirmed by Power Mate CNC Manager function.
Number Alarm type

000 to 299 Program or setting alarm
300 to 399, 401 Pulse coder alarm
400 to 499 (except 401) Servo alarm
500 to 599 Overtravel alarm
- System alarm or I/O Link alarm
Program or setting alarms (PS alarms)

No. LED display Description Countermeasure
A parameter that requires power-down has Turn the power off, then back on.
000
been specified.
The specified feedrate is zero. Check the feedrate parameter specified with a
011
function code.
The specified feedrate (maximum feedrate) is Check the value of parameter No.043, which
013 zero. indicates the maximum feedrate that can be
specified.
More than 32 blocks have been registered for Reduce the number of registered blocks to 32.
070
a buffering operation.
Reference position setting cannot be executed Move the tool in the direction of reference
normally. position return in jog mode at a speed that
090 causes the servo position error to exceed 128.
Then, specify another reference position
setting.
A first to third reference position return cannot Set the reference position.
093 be executed because the reference position
has not yet been established.
The reference position has not yet been Set the reference position.
224 established. This occurs only when the ZRTN
bit of parameter No.001 is set to 0.
Input data 1 is invalid. Check input data 1, specified with a function
250
code.

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Input data 2 is invalid. Check input data 2, specified with a function
251
code.
A function code or mode is invalid. Check the command code, specified with a
254
function code. Check the mode.
Operation cannot be activated because an Check the mode. Check whether a block is
255 invalid mode is specified or because block being executed.
execution is in progress.
The interface switch signal (DRC) was Switch the signal after block execution stops.
290
switched during block execution.
The speed of an axial movement specified by Check the speed specified by the external
an external pulse has exceeded the upper pulse. Check the magnification of the external
291
limit. This occurs only when the EPEXA bit of pulse (parameters No.062 and 063).
parameter No.001 is set to 1.
A checksum error for the non-volatile memory Parameters are cleared. Set the parameters
292 was detected. again. If this alarm subsequently recurs,
replace the unit.
Pulse coder alarms

A communication error (DTER) for the serial Check the connection of the signal cable. If the
pulse coder was detected. cable is normal, the pulse coder may be
300 defective. Turn the power off. If the alarm
recurs when the power is reapplied, replace
the serial pulse coder, together with the motor.
A communication error (CRCER) for the serial Check the connection of the signal cable. If the
pulse coder was detected. cable is normal, the pulse coder or servo
301
amplifier unit may be defective. This error can
also be caused by external noise.
A communication error (STBER) for the serial Check the connection of the signal cable. If the
pulse coder was detected. cable is normal, the pulse coder or servo
302
amplifier unit may be defective. This error can
also be caused by external noise.
An LED disconnection (LDAL) was detected in Turn the power off. If this alarm recurs when
303 the serial pulse coder. the power is reapplied, replace the motor.
A mispulse alarm (PMAL) for the serial pulse Turn the power off. If this alarm recurs when
304
coder was detected. the power is reapplied, replace the motor.
A miscount alarm (CMAL) for the serial pulse Turn the power off. If the alarm recurs when
coder was detected. the power is reapplied, replace the motor.
305
If the alarm does not recur, restart the
operation from reference position return.
The motor has overheated (OHAL). This alarm is issued when the motor has
overheated, causing the thermostat to trip.
Possible causes include an excessively high
ambient temperature and excessively strict
306
operating conditions. Check the actual cause.
If it occurs again when the motor is cooled, the
motor or servo amplifier may have failed.
Replace the faulty motor or servo amplifier.

DRAW B-63094EN/02-5, B-63614EN/01-2

A soft phase alarm (SPHAL) was detected. Turn the power off. This alarm may be caused
308
by noise.
When the absolute pulse coder is used, the Rotate the motor through more than one turn in
319 motor has not yet rotated through more than jog feed mode, then turn the power off then
one turn after the first power-up. back on.
The battery voltage of the absolute pulse coder Replace the battery.
350 is low. Restart the operation from reference position
return.
The battery voltage of the absolute pulse coder Replace the battery.
351
is low. (warning)
A communication error was detected in the Check the connection of the pulse coder signal
serial pulse coder. cable. If the cable is normal, the pulse coder
401
or servo amplifier unit may be defective. This
error can also be caused by external noise.
Servo alarms
The servo motor has overheated (estimated The motor operation condition may be too
400 value). severe. Check the operation condition.
SVU-12 The cooling fins have overheated. The load on the motor may be too high. Re-
SVU-20 (hardware detection) examine the load conditions.
403
SVU-40 This alarm will not be issued.
SVU-80
The regenerative discharge unit has This alarm is issued when the average
overheated. regenerative discharge energy is too high
(when the acceleration/deceleration frequency
is too high, for example).
(1) When the separate regenerative discharge resistor is not used: For the SVU-12 and the
SVU-20, check whether the CX11-6 connector is short-circuited with a dummy connector;
for the SVU-40 and the SVU-80, check whether the CX20 and CX23 connectors are short-
circuited with a dummy connector.
(2) The average regenerative discharge energy may be too high. Decrease the
acceleration/deceleration frequency.
404 (3) The separate regenerative discharge unit may not be connected properly. Check the
connection.
(4) The thermostat of the separate regenerative discharge unit may be defective. Disconnect
the separate regenerative discharge unit, then check the thermostat. If the thermostat is
open even through the separate regenerative discharge unit is cool, replace the separate
regenerative discharge unit.
(5) The resistor of the separate regenerative discharge unit may be defective. Disconnect the
separate regenerative discharge unit, then check the resistance. If it does not fall in the
range of the predetermined resistance ±20%, replace the separate regenerative discharge
unit.
(6) If (1) to (5) are not the cause of the alarm, replace the servo amplifier unit.
Reference position return could not be Re-execute reference position return.
executed correctly.
405 If a value in the range of 4 to 96 is set for parameter No. 032 (CMR), an alarm may be issued.
In this case, prevent an alarm from being issued by setting N405 (bit 4 of parameter No. 001) to
“1”.

DRAW B-63094EN/02-5, B-63614EN/01-2

The servo position error in the stop state is Determine the mechanical cause of the large
410 larger than the value specified in parameter position error. If no mechanical cause is found,
No.110. specify a larger value for the parameter.
The servo position error during movement is Determine the mechanical cause of the large
larger than the value specified in parameter position error. If no mechanical cause is found,
No.182. apply any of the following countermeasures:
411
• Specify a larger value for the parameter.
• Specify a lower feedrate.
• Increase the time constants.
[SVU-12, SVU-20] This alarm is issued when an excessively large
An overcurrent alarm is issued. current flows in the main circuit.
(1) Check whether a valid motor number is specified in parameter No.30.
(2) Check whether the standard values are specified in the current control parameters for servo
control.
Correct current control is possible only when the standard values are specified for the
following parameters:
No.70, 71, 72, 78, 79, 84, 85, 86, 87, 88, 89, 90
(3) Disconnect the power line from the servo amplifier unit connector. Then, release the
emergency stop state.
- If the overcurrent alarm continues to be issued, replace the servo amplifier unit.
- If no overcurrent alarm is issued, go to (4).
(4) Check the insulation between the ground and each of U, V, and W. If the insulation is
satisfactory, go to (5).
412
- If a short-circuit is detected, disconnect the power line from the motor connector. Then,
check the insulation between the ground and each of U, V, and W of the motor.
- If a short-circuit is found between the ground and U, V, or W of the motor, replace the
motor.
- If the insulation is satisfactory, replace the power line.
(5) Connect the power line. Observe the waveform of the motor current (IR, IS) while the motor
is accelerating or decelerating.
- If the motor current (IR, IS) does not show a normal sine wave, replace the servo amplifier
unit.
(6) Check if the motor current (IR, IS) waveforms include noise.
- When noise is included, take an action such as making a connection to shield ground.
- When noise is not included, replace the servo amplifier unit.
(7) If (1) to (4) above are not the cause of the alarm, the pulse coder, command cable, or
internal hardware of the CNC may be defective.

DRAW B-63094EN/02-5, B-63614EN/01-2

[SVU-40, SVU-80] This alarm is issued in the following cases:
An overcurrent alarm or IPM alarm is issued. • This alarm is issued when an excessively
large current flows in the main circuit.
• This alarm is issued when an error
(overcurrent, overheat, low IPM control
power supply voltage) is detected in the IPM
(semiconductor driving the motor).
(1) Check whether a valid motor number is specified in parameter No.30.
(2) Check whether the standard values are specified in the current control parameters for servo
control.
Correct current control is possible only when the standard values are specified for the
following parameters:
No.70, 71, 72, 78, 79, 84, 85, 86, 87, 88, 89, 90
(3) Turn off the servo amplifier unit for about ten minutes, then release the emergency stop
state. If no overcurrent alarm is issued, The IPM protection function (against overheat)
may be operating. Possible causes of overheat include a high ambient temperature and a
too severe motor operating condition. Check the cause.
- If an overcurrent alarm is issued, go to (4).
(4) Disconnect the power line from the servo amplifier unit connector. Then, release the
412 emergency stop state.
- If an overcurrent alarm is issued, the IPM protection function (against overcurrent, low
control power supply voltage, overheat) may be operating or defective. Replace the IPM
or servo amplifier unit.
- If no overcurrent alarm is issued, go to (5).
(5) Disconnect the power line from the amplifier connector. Check the insulation between the
ground and each of U, V, and W.
- If a short-circuit is found between the ground and U, V, or W of the motor, replace the
motor.
- If the insulation is satisfactory, replace the power line.
(6) Connect the power line. Observe the waveform of the motor current (IR, IS) while the motor
is accelerating or decelerating.
- If the motor current (IR, IS) does not show a normal sine wave, replace the servo amplifier
unit.
(7) Check whether the waveform of the motor current (IR, IS) contains noise.
- If it contains noise, take appropriate measures against noise, such as grounding the
shield.
- If it does not contain noise, replace the servo amplifier unit.
(8) If (1) to (7) above are not the cause of the alarm, the pulse coder, command cable, or
internal hardware of the CNC may be defective.
A DC link overvoltage alarm is issued. This alarm is issued when the DC voltage of the
main circuit power is too high.
(1) When SVU-12 or SVU-20 is used, and a separate regenerative discharge unit is not used,
check the specification to see if regenerative energy per one time does not exceed the
allowable regenerative energy of the servo amplifier unit.
(2) For the SVU-40 and the SVU-80, when the separate regenerative discharge resistor is not
used, check whether the CX23 connector is short-circuited with a dummy connector.
413 (3) The supply voltage for dynamic power may exceed the rated value. Check the voltage. If the
voltage is too high, reduce the voltage to an appropriate level.
(4) The regenerative discharge unit may not be properly connected. Check the connection.
(5) The resistance of the separate regenerative discharge unit may be abnormal. Disconnect
the separate regenerative discharge unit, then check the resistance. If the resistance is not
within ±20% of the predetermined resistance, replace the separate regenerative discharge
unit.
(6) If (1) to (5) are not the cause of the alarm, replace the servo amplifier unit.

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A DC link low voltage alarm is issued. This alarm is issued when the DC voltage of the
main circuit power is too low.
(1) 190 ms or longer may pass from the time when both the *ESP of the built-in DI and the *ESP
of the I/O link interface signal are canceled until the external magnetic contactor inserted into
the input for motive power turns on(including the operating time of the magnetic contactor).
414 The magnetic contactor must turn on within 100 ms.
(2) The external circuit breaker may be turned off. Check the circuit breaker.
(3) The supply voltage for dynamic power is lower than the rated value. Check the voltage. If the
voltage is too low, increase it to an appropriate level.
(4) The external magnetic contactor may not be connected properly. Check the connection.
If (1) to (4) are not the cause of the alarm, replace the servo amplifier unit.
A parameter has been specified incorrectly. Check the following parameters:
No.30: Is the specified motor type correct?
No.31: Is the specified direction of rotation of
the motor correct?
417
No.106: Is the denominator of the number of
pulses per single revolution of the motor 0?
No.180: Is the specified reference counter
capacity 0 or a negative value?
A DO alarm is issued. Replace the servo amplifier unit.
418
The specified speed exceeds 32767000 Re-examine the CMR and speed settings.
423 detection units per second.
The cooling fan has stopped. This alarm is issued when the fan motor built
into the servo amplifier unit has failed.
The fan motor is consumable.
425
(1) Check that the fan is not clogged with something.
(2) Check that the power connector of the fan is connected properly.
(3) Replace the fan or servo amplifier unit.
The external pulse input line is disconnected. Connect the external pulse input signal
446 correctly.
The velocity deviation is too high (velocity Check the actual velocity.
447 control) See the settings of parameter No. 136.
Overtravel alarms
The positive stroke limit has been exceeded. Check whether *+OT and *-OT are connected
500 correctly. Check whether a correct move
command is specified. Move the tool in the
The negative stroke limit has been exceeded. opposite direction in jog mode, then perform a
501
reset.
The positive soft stroke limit has been Check whether appropriate values have been
510
exceeded. specified for parameters No.142 and 143.
Check whether a valid move command is
The negative soft stroke limit has been
511 specified. Move the tool in the opposite
exceeded.
direction in jog mode, then perform a reset.

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System alarms
An error was detected in the RAM write/read Replace the servo amplifier unit.
-
test at power-up.
An error was detected in the data collation Turn the power off then back on. Then, re-
- check for the non-volatile memory. enter the parameters. If this alarm recurs,
replace the servo amplifier unit.
A data transfer alarm for the non-volatile Replace the servo amplifier unit.
-
memory has been issued.
A watchdog alarm was issued. Turn the power off then back on. If this alarm
-
recurs, replace the servo amplifier unit.
A checksum alarm for the control software Replace the servo amplifier unit.
-
ROM is issued.
A checksum alarm for the ROM that is built into Replace the servo amplifier unit.
-
the CPU is issued.
An error was detected in the control circuit. Replace the servo amplifier unit.
-
I/O link alarm

A FANUC I/O Link error occurred. Any unit Turn off the power to all units connected to the
- connected to the line was turned off. line. Then, turn on the slave devices, followed
by the master device.
No LED display
The control circuit is not operating normally. (1) Check the 24-VDC control supply voltage.
If the voltage is low, increase the voltage to
No indicators an appropriate level.
lit (2) Check whether a fuse in the servo amplifier
-
unit has blown. If a blown fuse is found,
replace it.
If (1) and (2) are not the cause, replace the
servo amplifier.

DRAW B-63094EN/02-5, B-63614EN/01-2

FANUC Series 18i/180i/180is - MB OPERATOR’S MANUAL
Concerning addition of the Changing Active Offset Value with Manual Move
FANUC Series 18i/180i/180is - MB OPERATOR’S MANUAL

Name FANUC Series 21i/210i/210is - MA OPERATOR’S MANUAL
Spec.No./Ed. B-63554EN/01, B-63094EN/02, B-63614EN/01
2.Summary of Change
New, Add,
Applicable
Date
Delete
Basic
Optional Addition of the Changing Active Offset Value with

Manual Move Addition Immediately
Function
Unit
Maintenance
Parts
Notice
Correction
Another
18i/180i/180is - MB
21i/210i – MA/MB OPERATOR’S MANUAL
TITLE
Concerning addition of the Changing Active Offset Value
with Manual Move
01 Feb.06 ’03 Newly Registered No. B-63554EN/01-1, B-63094EN/02-7, B-63614EN/01-4

• Adding “FANUC Series 16i /18i /21i – MA / MB Changing Active Offset Value with Manual Move
(A-78535E)” to this description
(Attached papers)
FANUC Series 16i /18i /21i – MA / MB Changing Active Offset Value
with Manual Move (A-78535E)
18i/180i/180is - MB
21i/210i – MA/MB OPERATOR’S MANUAL
TITLE
Concerning addition of the Changing Active Offset Value
with Manual Move
01 Feb.06 ’03 Newly Registered No. B-63554EN/01-1, B-63094EN/02-7, B-63614EN/01-4

FANUC Series 16i /18i /21i – MA/MB
Changing Active Offset Value with Manual Move
Index
1. Outline .........................................................................................................................2
2. Explanation..................................................................................................................2
2.1 Active offset change mode ..................................................................................2
2.2 Specifying an offset to be changed .....................................................................2
2.3 Changing the tool length compensation ............................................................2
2.4 Changing the cutter radius compensation.........................................................3
2.5 Changing the workpiece origin offset ................................................................3
2.6 Operations specific to individual tool offset memory types ..............................4
2.7 Presetting the relative position indicator ..........................................................5
2.8 Tool life management .........................................................................................5
2.9 Emergency stop and SV alarm...........................................................................5
3. Signal ...........................................................................................................................8
4. Parameter ....................................................................................................................8
5. Restriction..................................................................................................................10
6. Caution.......................................................................................................................10
FANUC Series16i/18i/21i–MA/MB
Title Changing Active Offset Value
with Manual Move.
Draw
No. A-78535E
02 030205 Overall revision

Edit Date Design Description Sheet
1/10
Date 001106 Desig. S. Isohata Apprv. E. Genma
1. Outline
If you want to perform roughing or semi-finishing with a single tool, you may fine-adjust
the tool length compensation or cutter compensation. Moreover, you may want to fine-
adjust the setting of the workpiece origin offset that was already set up. This function
can change the offset (such as tool length compensation, cutter compensation, or workpiece
origin offset) for the currently valid offset number or workpiece coordinate system among
those specified, by adding an amount of axis movement made by manual feed
automatically.
2. Explanation
2.1 Active offset change mode
This mode is specified by an active offset change mode signal. In this mode, an amount of
axis movement made by manual feed is automatically added to the offset (such as tool
length compensation, cutter compensation, and workpiece origin offset) for the currently
valid offset number or workpiece coordinate system among those specified. The types of
manual feed valid with this function include manual handle feed, incremental feed, and
jog feed.
2.2 Specifying an offset to be changed

An active offset selection signal is used to select a tool length compensation ,cutter
compensation, or workpiece origin offset.
In active offset change mode, the selected offset is indicated by blinking its status
indication as listed below.
Selected offset Status indication

Tool length compensation LEN
Cutter compensation RAD
Workpiece origin offset WZR
2.3 Changing the tool compensation

This function can change the tool length compensation identified by the offset number
corresponding to an H code specified during automatic operation. If there is no valid tool
compensation (for example, when no H code has been issued since cycle start), no tool
length compensation change takes place even when axis movement is made manually.
Linear axis movement can change the tool length compensation. Rotation axis movement
cannot change it. When the tool length compensation is being changed, manual feed
cannot cause movement along more than one axis at a time.
with Manual Move.
Draw
No. A-78535E

2/10
Example
The compensation value set at Z-axis of the offset number 10 becomes
54.700 + (-2.583) = 52.117 mm under the following conditions:
· Specified H code: H10

· Value set at Z-axis of the offset number 10: 54.700 mm
· Amount of movement caused by manual feed along the Z-axis:
-2.583 mm
2.4 Changing the cutter radius compensation

This function can change the cutter radius compensation identified by the offset number
corresponding to a D code specified during automatic operation. If there is no valid tool
compensation (for example, when no D code has been issued since cycle start), no cutter
compensation change takes place even when axis movement is made manually.
Linear axis movement can change the cutter radius compensation. Rotation axis
movement cannot change it. When the cutter radius compensation is being changed,
manual feed cannot cause movement along more than one axis at a time.
Example
The compensation at offset number 15 becomes
6.500 + 2.379 + (-0.572) = 8.307 mm under the following conditions:
· Specified D code: D15

· Value set at offset number 15: 6.500 mm
· Amount of movement caused by manual feed along the X-axis: 2.379 mm
· Amount of movement caused by manual feed along the Y-axis:-0.572 mm
2.5 Changing the workpiece origin offset

This function can change the workpiece origin offset of an individual axis of the
workpiece coordinate system corresponding to G54 to G59 or G54.1P1 to P48
specified during automatic operation. There is a currently valid workpiece
coordinate system. So, axis movement made by manual feed causes the
workpiece origin offset of that workpiece to be changed. In addition, movement
along any axis (regardless of axis types, such as linear axes or rotation axes) can
change the workpiece origin offset. Moreover, manual feed can be made along
more than one axis at a time, when the workpiece origin offset is being changed.
with Manual Move.
Draw
No. A-78535E

3/10
Example
Assume the following conditions:
· Specified workpiece coordinate system: G56
· G56 workpiece origin offset (X-axis): 50.000
· G56 workpiece origin offset (Y-axis): -60.000
· G56 workpiece origin offset (Z-axis): 5.000
· G56 workpiece origin offset (C-axis): 180.000
· Amount of manual feed-based movement along the X-axis: -10.000 mm
· Amount of manual feed-based movement along the Y-axis: -5.000 mm
· Amount of manual feed-based movement along the Z-axis: 10.000 mm
· Amount of manual feed-based movement along the C-axis: 90.000 degrees
Under the above conditions, the workpiece origin offset for G56 is changed
as follows:
· X-axis: 50.000 + (-10.000) = 40.000
· Y-axis: -60.000 + (-5.000) = -65.000
· Z-axis: 5.000 + 10.000 = 15.000
· C-axis: 180.000 + 90.000 = 270.000
2.6 Operations specific to individual tool offset memory types

The offset to be changed varies with what the tool offset memory (A, B, or C) is
used, as listed bellow.
Tool offset memory Offset to be changed

A The tool length compensation and cutter compensation are
processed in the same way. The content of the same offset
number as effective H code is changed now.
B The tool length compensation and cutter compensation are
processed in the same way. The content of the same offset
number as effective H code is changed now.
Either tool geometry compensation or wear compensation
is changed according to the setting of parameter ASG(bit 4
of parameter No.5000).
C The tool length compensation and cutter compensation at
the offset numbers corresponding to the currently valid H
code and D code, respectively, are changed separately.
Either tool geometry compensation or wear compensation
is changed according to the setting of parameter ASG(bit 4
of parameter No.5000).
with Manual Move.
Draw
No. A-78535E

4/10
2.7 Presetting the relative position indicator
Setting parameter APL (No. 3115#5) to 1 can preset the relative position indicator
(counter) to 0 automatically when active offset change mode is selected. In this
case, performing manual feed until the relative position indicator (counter)
becomes 0 can restore the changed offset value to the previous one.
2.8 Tool life management

If a tool management option is available, compensation is carried out by the T
code (tool group number), M06(tool change command), and H99/D99. In this case,
a change is made to the compensation corresponding to the compensation number
made valid by this command. If there is no currently valid compensation number
(for example, no T code or tool change command has been executed since cycle
start), manual feed-caused axis movement does not affect the compensation.
2.9 Emergency stop and Servo alarm

If the servo power is switched off (for example, when the machine is brought to an
emergency stop or an servo alarm occurs), axis movement caused by follow-up is
reflected to the offset during active offset change mode.
NOTE
If the tool compensation has been selected as an offset to be changed, follow-up-caused
axis movement around a rotation axis is not reflected to the offset
with Manual Move.
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3. Signal
Active offset change mode signal CHGAO<G297#4>

[Classification] Input signal
[Function] This signal selects the manual feed-based active offset change
mode.
[Operation] Setting this signal to "1" selects the manual feed-based active
offset change mode.
· Automatic operation is at pause or stop (STL<F000#5> is "0").
· HANDLE mode, INC mode, or JOG mode is selected.
Active offset selection signal AOFS1, AOFS2<G297#5,#6>

[Classification] Input signal
[Function] This signal selects the type of the changed offset in the manual
feed-based active offset change mode.
[Operation] Tool length compensation, cutter compensation, or workpiece origin offset
is selected in the manual feed-based active offset change mode according to
the following table.
AOFS2 AOFS1 Offset to be changed

0 0 Tool length compensation
0 1 Cutter compensation
1 0 Workpiece origin offset
Active offset changing signal MCHAO<F297#5>

[Classification] Output signal
[Function] This signal indicates that the manual feed-based active offset
change mode has been selected and the offset is being changed.
[Output condition]The signal becomes "1" when all the following conditions are satisfied:
· The active offset change mode signal CHGAO<G297#4> is "1".
· Automatic operation is at pause or stop (STL<F000#5> is "0").
NOTE
Before restarting automatic operation, make sure that this signal is "0".
with Manual Move.
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Signal addresses
· Parameter No.5040#2(MOP)=0
#7 #6 #5 #4 #3 #2 #1 #0
G0297 AOFS2 AOFS1 CHGAO
#7 #6 #5 #4 #3 #2 #1 #0
F0297 MCHAO
· Parameter No.5040#2(MOP)=1
#7 #6 #5 #4 #3 #2 #1 #0
G0203 AOFS2 AOFS1 CHGAO
#7 #6 #5 #4 #3 #2 #1 #0
F0199 MCHAO
The following timing chart shows how the input and signals behave.
A command such as Hxxx, Dxxx or G54

specifies what tool compensation number
Operation is put at pause Operation restarts
or workpiece coordinate system is to be
(stop) to change the offset. with the new offset.
made valid.
Automatic operation
starting signal (STL)
Manual feed
(handle/incremental/jog)
mode
Active offset change mode

signal (CHGAO)
Active offset changing

signal (MCHAO)
The offset selected by the active offset

selection signal (AOFS1 or AOFS2) is
changed by manual feed.
with Manual Move.
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4. Parameter
#7 #6 #5 #4 #3 #2 #1 #0
3115 APL
[ Input type ] Parameter input

[ Data type ] Bit axis
APL Specifies whether to preset the relative position indicator automatically

when the manual feed-based active offset change mode is selected, as
follows:
0: Do not preset.
1: Preset.
This signal is used to restore the previous value of an offset when it has
been changed in the manual feed-based active offset change mode.
Making axis movement by manual feed in such a way that the relative
position indicator (counter) becomes 0 can restore the previous value of
the offset.
#7 #6 #5 #4 #3 #2 #1 #0
5000 ASG
[ Input type ] Setting input

[ Data type ] Bit
ASG Specifies what compensation is to be changed in the manual feed-

based active offset change mode for offset memory B/C, as follows:
0: Geometry compensation
1: Wear compensation
#7 #6 #5 #4 #3 #2 #1 #0
5040 MOP

[ Data type ] Bit
MOP As for DI/DO signals of the Changing Active Offset Value with Manual
Move:
0: G297#4, G297#5, G297#6, and F297#5 are used.
(This setting cannot be used in PMC-SA1.)
1: G203#4, G203#5, G203#6, and F199#5 are used.
with Manual Move.
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#7 #6 #5 #4 #3 #2 #1 #0
5041 AOF

[ Data type ] Bit
AOF When the manual feed-based active offset change mode is selected in a
reset state or a cleared state, the tool compensation:
0: Can be changed
1: Cannot be changed
However, even if “1” is set in parameter CLR(No.3402#6), it becomes the following

according to parameter CFH(No.3409#7).
[ When the CLR(No.3402#6) parameter is 1]

AOF(No.5041#0)=0 AOF(No.5041#0)=1
CFH(No.3409#7=0) Cannot be changed
Cannot be changed
CFH(No.3409#7=1) Can be changed
[Relation parameter]
#7 #6 #5 #4 #3 #2 #1 #0
3402 CLR

[ Data type ] Bit
CLR The reset button on the MDI panel, external reset signal, reset and
rewind signal, and emergency stop signal
0: Cause reset state.
1: Cause clear state.
with Manual Move.
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#7 #6 #5 #4 #3 #2 #1 #0
3409 CFH

[ Data type ] Bit
CFH When bit 6(CLR) of parameter No.3402 is 1, the reset button on the
MDI panel, the external reset signal, the reset and rewind signal,
or emergency stop will,
0: Clear F codes, H codes, D codes.
1: Not clear F codes, H codes, D codes.
5. Restriction
1. It is not possible to change the offset value in modes other than the manual handle feed,
incremental feed, and jog feed by this function. It is not possible to change it by another
function of the three-dimensional handle feed, the manual numerical command, the PMC
axis control etc. even if in the above-mentioned mode in case of using this function.
2. It is not possible to change the offset value by this function in the manual reference point
return mode.
3. The offset value of the rotation axis cannot be changed by this function.
6. Caution
1. The changed tool compensation is managed according to parameter EVO(No.5001#6),
EVR(No.5001#4).
2. The tool length compensation and cutter compensation can be changed for the linear axes.
It is possible to forbid changing the offset value of any axis by interlocking (IT1 to IT8
(G130#0 to #7)) the axis with the PMC (ladder).
with Manual Move.
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FANUC Series 21i /210i /210is - MA OPERATOR’S MANUAL
Addition of WARNING to “14.1 TOOL LENGTH OFFSET”

Name FANUC Series 21i /210i - MB OPERATOR’S MANUAL
Spec.No./Ed. B-63094EN/02, B-63614EN/01
2.Summary of Change
New, Add,
Applicable
Date
Delete
Addition of WARNING to “14.1 TOOL LENGTH
Basic Addition Immediately
OFFSET”
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Another
FANUC Series 21i – MA/MB

Title OPERATOR’S MANUAL
Draw
No. B-63094EN/02-08, B-63614EN/01-05
Ed. Date Design Description Sheet 1/3

Date Mar.03.03 Desig. Apprv.
The description of OPERATOR’S MANUAL “14.1.2 G53, G28 and G30 Commands in Tool Length Offset Mode •
Tool length offset vector restration” is changed as follows. (The underlined WARNING is added on page 3.)
14.1.2 G53, G28 and G30 Commands in Tool Length Offset Mode
Explanation
• Tool length offset vector restoration
Tool length offset vectors, canceled by specifying G53, G28 or G30 in tool length offset mode,
are restored as described below.
(1) When OFH (bit 2 of parameter No. 5001) = 0

Type EVO (bit 6 of Restoration block
parameter No. 5001)
A/B 1 Block to be buffered next
0 Block containing an H command or
G43/44 command
C Ignored Block containing an H command
Block containing a G43P_/G44P_
command
(2) When OFH (bit 2 of parameter No. 5001) = 1

In a mode other than tool length offset mode
parameter No. 5001)
A/B 1 Block to be buffered next
G43/44 command
C Ignored Block containing an H command
Block containing a G43P_/G44P_
command
In tool length offset mode

parameter No. 5001)
A/B 1 Block containing a G43/44 block
G43/44 command
C Ignored Block containing a
G43P_H_/G44P_ H_command

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No. B-63094EN/02-08, B-63614EN/01-05

WARNING
1. When tool length offset is applied to multiple axes, all axes for which
G53, G28 and G30 are specified are subject to cancellation. However,
restoration is performed only for that axis to which tool length offset
was applied last; restoration is not performed for any other axes.
2. In case that restoration of tool offset is performed on the next buffering
block by using tool length offset A/B and setting EVO (bit 6 of
parameter No.5001) to 1, do not specify Local coordinate system
setting (G52) or Setting for work coordinate system (G92) at the block
just after G53, G28 or G30 commanding block. Restoration of tool
length offset may not be performed.
NOTE
In a block containing G40, G41, or G42, the tool length offset vector is
not restored.

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No. B-63094EN/02-08, B-63614EN/01-05

Addition of AI contour control / AI nano contour control (G05.1)
Name FANUC Series 21i/210i - MB OPERATOR’S MANUAL
Spec.No./Ed. B-63614EN/01
2.Summary of Change
New, Add,
Applicable
Date
Delete
Basic
Optional
AI contour control / AI nano contour control Addition Immediately
Function
Unit
Maintenance
Parts
Notice
Correction
Another
FANUC Series 21i/210i - MB

Draw
No. B-63614EN/01-06

Date Feb.20.06 Desig. Apprv.
“19.5 AI contour control / AI nano contour control (G05.1)” is added to FANUC Series 21i/210i - MB
OPERATOR’S MANUAL.
19.5
AI CONTOUR CONTROL FUNCTION
/AI NANO CONTOUR CONTROL FUNCTION
Overview
The AI contour control / AI nano contour control function is provided for high-speed,
high-precision machining. This function enables suppression of acceleration/deceleration
delays and servo delays that become larger with increases in the feedrate and reduction of
machining profile errors.
Look-ahead acceleration/deceleration before interpolation is enabled for up to 40 blocks in AI
contour control or for up to 80 blocks in AI nano contour control. This enables execution of
smooth acceleration/ deceleration extending over multiple blocks and higher machining.
The AI nano contour control function calculates a position command to be output to the digital
servo in nanometers (nm) with nano-interpolation, so the machine can be moved smoothly
and the surface precision is improved.
Explanation
This function is enabled by setting the AI contour control or AI nano contour control mode.
• Format
G05.1 Q_ ;
Q1 : AI contour control / AI nano contour control mode on
Q0 : AI contour control / AI nano contour control mode off
Note
1 Always specify G05.1 in an independent block.
2 The AI contour control / AI nano contour control mode is also canceled
by a reset.
3 When the AI nano contour control option is installed, bit 0 (NAN) of
parameter No. 7053 is set to 1 to set the AI contour control mode.
• Functions valid in the AI contour control / AI nano contour control mode

The functions listed below are valid in the AI contour control / AI nano contour control mode:
• Nano-interpolation (only in the AI nano contour control mode)
• Look-ahead linear acceleration/deceleration before interpolation
• Look-ahead bell-shaped acceleration/deceleration before interpolation
(The option of look-ahead bell-shaped acceleration/deceleration before interpolation is
required.)

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No. B-63614EN/01-06

• Automatic corner deceleration
• Feedrate clamping by acceleration
• Feedrate clamping by arc radius
• Block overlap
• Advanced preview feed forward
• Nano-interpolation (only in the AI nano contour control mode)

Nano-interpolation calculates a position command to be output to the digital servo in
nanometers (nm) for a conventional program (IS-B or IS-C command). Using the calculation
results, a smooth position command is output to the servo, so the machine can be moved
smoothly and the surface precision is improved.
Nano- High-precision
NC program Servo motor
interpolation servo control
Uses a conventional Calculates the

program. Combination with HRV
position precisely.
control improves the
follow-up ability.
Note
The positioning precision depends on the detection unit.
• Look-ahead linear acceleration/deceleration before interpolation

For a cutting feed command in the feed per minute mode, linear acceleration/deceleration can
be applied before interpolation, that is, for the specified feedrate by reading up to 40 blocks (in
the AI contour control mode) or 80 blocks (in the AI nano contour control mode) in advance.
With acceleration/deceleration after interpolation, the interpolated data is changed because
acceleration/deceleration is applied to the data. With acceleration/deceleration before
interpolation, the interpolated data cannot be changed by acceleration/deceleration because
acceleration/ deceleration is applied to the feedrate data before interpolation. For this reason,
the interpolated data can always be applied to the specified straight line or curve to eliminate
machining profile errors caused by acceleration/deceleration delays.
Linear
acceleration/deceleration
before interpolation
Specified Distribution
feedrate pulse Acceleration/
Feedrate Interpolation deceleration Servo
calculation calculation after control
interpolation
Linear interpolation,
circular interpolation, etc.

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No. B-63614EN/01-06

(Example of deceleration)
Deceleration is started in a prior block so that the feedrate specified for the target block is
reached at the execution.
Feedrate
Specified feedrate
Point1
Feedrate determined by
F3 acceleration/deceleration
Point2
F2
F1 Time
N1 N2
To decelerate from feedrate F3 to F2, deceleration must start with point 1.

To decelerate from feedrate F2 to F1, deceleration must start with point 2.
Multiple blocks can be read in advance to perform deceleration extending over several blocks.
(Example of acceleration)
Acceleration is performed so that the feedrate specified for the target block is reached at the
execution.
Feedrate
Specified feedrate
Feedrate determined by
F3
F2
F1 Time
N1 N2

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No. B-63614EN/01-06

• Look-ahead bell-shaped acceleration/deceleration before interpolation
Linear acceleration/deceleration before interpolation for cutting feed in the AI contour
control/AI nano contour control mode can be changed to bell-shaped acceleration/
deceleration before interpolation. With bell-shaped acceleration/deceleration before
interpolation, smooth acceleration/deceleration can be applied to the cutting feedrate to
reduce the shock on the machine by fluctuations in acceleration that are involved in changes
in the cutting feedrate.
To use this function, the option of look-ahead bell-shaped acceleration/deceleration before
interpolation is required.
Linear acceleration/
Feedrate
deceleration
Bell-shaped acceleration/
deceleration
ta Depends on the linear acceleration.
tb Time constant for bell-shaped
tc Bell-shaped acceleration/
deceleration time
tc = ta + tb
Time
tb tb tb tb ta is not constant and depends
ta ta on the specified feedrate.
tc tc Specified feedrate
ta =
Linear acceleration
tb is constant.
Acceleration
tb tb
deceleration
deceleration
Time
ta Depends on linear acceleration.
tb tb tb Time constant for bell-shaped
ta ta tc Bell-shaped acceleration/
tc tc deceleration time
tc = ta + tb

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When the feedrate is changed, deceleration and acceleration are performed as follows:
For deceleration: Bell-shaped deceleration is started in the preceding block so that
deceleration terminates by the beginning of the block in which the
feedrate is changed.
For acceleration: Bell-shaped acceleration is started after the beginning of the block in
which the feedrate is changed.
Deceleration
Feedrate
Fa
Fb
Time
N1 N2
Acceleration
Feedrate
Fb
Fa
Time
N1 N2
• Automatic corner deceleration

Between contiguous two blocks, the feedrate difference for an axis may exceed the setting
(parameter No. 1783). In this case, the feedrate at the corner is calculated as follows based on
the axis for which the ratio of the actual feedrate difference to the allowable feedrate
difference is the largest. Deceleration is performed so that the feedrate is reached at the
interface of the blocks.
The change in the feedrate for each axis (Vx, Vy, ...) during movement at the specified
feedrate F is compared with the setting of parameter No. 1783 (Vprm-x, Vprm-y, ...). If the
change in the feedrate for any axis exceeds the setting of the parameter, the following
expression is used:
 Vx Vy 
Rmax = max  , , , ,
 Vprm − x Vprm − y 
The required feedrate (Fc) is obtained as follows and deceleration is performed at the corner:
1
Fc = F ×
Rmax
For example, assume that the tool move direction changes by 90 degrees from movement
along the X-axis to that along the Y-axis. Also assume that the specified feedrate is 1000
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No. B-63614EN/01-06

mm/min and the allowable feedrate difference (parameter No. 1783) is 500 mm/min.
Deceleration is performed as shown in the figure below:
N1 G01 G91 X100. F1000 ;

N2 Y100. ;
N2
Tool path when deceleration

is not performed at the corner
Tool path when deceleration

is performed at the corner
N1
Feedrate
When deceleration is not performed
Feedrate along the X-axis
F1000 at the corner
When deceleration is performed

at the corner
F500
N1
Time
Feedrate
Feedrate along the Y-axis
F1000
F500
N2
Time
Feedrate
F1000
Tangential feedrate
F500
N1 N2
Time

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• Feedrate clamping by acceleration
When continuous minute straight lines form curves as shown in the example in the figure
below, the feedrate difference for each axis at each corner is not so large. For this reason,
deceleration according to the feedrate difference is not effective. Continuous small feedrate
differences make a large acceleration for each axis as a whole, however.
In this case, deceleration is performed to suppress the shock on the machine and machining
errors caused by too large acceleration. The feedrate is decreased so that the acceleration for
each axis that is obtained using the expression below does not exceed the allowable
acceleration setting for all axes.
The allowable acceleration is set based on the maximum cutting feedrate (parameter No.
1432) and time required to reach the feedrate (parameter No. 1785).
Acceleration for each axis =

Feedrate difference for each axis at each corner
 Travel distance in preceding block Travel distance in following block 
max  , 
 F F 
The decreased feedrate is obtained for each corner. The decreased feedrate obtained at the
start or end point of the block, whichever is lower, is used as the actual feedrate.
(Example) In the example below, deceleration is performed because the acceleration (gradient
of each dotted line in the feedrate graphs) from N2 to N4 and from N6 to N8 is too
large.
N8
N7
N9
N6
N5
N1 N4
N3
N2

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No. B-63614EN/01-06

N1 N5 N9 N1 N5 N9
• Feedrate clamping by arc radius

The maximum allowable feedrate v for an arc of radius r specified in a program is calculated
using the arc radius R and maximum allowable feedrate V (setting of a parameter) for the
radius as follows so that the acceleration in an arc block does not exceed the allowable value.
If the specified feedrate exceeds the feedrate v, the feedrate is automatically clamped to the
feedrate v.
V2
Maximum allowable feedrate =
R
R : Arc radius V : Feedrate for arc radius
Then, the maximum allowable feedrate v for an arc of radius r can be obtained using the
following expression:
Note
As the specified arc radius becomes smaller, the maximum allowable
feedrate v becomes lower. If the maximum allowable feedrate v is lower
than the setting of parameter No. 1732 (lower feedrate limit for feedrate
clamping by arc radius), it can be assumed to be the setting of the
parameter to prevent the maximum allowable feedrate from becoming too
low.

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• Rapid traverse
By setting the corresponding parameter, the linear or non-linear interpolation type can be
selected.
When the linear interpolation type is selected, acceleration/deceleration is performed before
interpolation and linear interpolation type positioning is used for movement. For
acceleration/deceleration, linear or bell-shaped acceleration/deceleration can be selected by
setting the corresponding parameter. (To select bell-shaped acceleration/deceleration, the
option of bell-shaped acceleration/deceleration for rapid traverse is required.)
The feedrate during movement and acceleration for acceleration/deceleration before

interpolation are obtained as follows:
(1) Feedrate during movement
The minimum value obtained using the following expression for each axis along which
movement is done is used as the feedrate during movement:
Rapid traverse rate for each axis (parameter No. 1420) =
Amount of travel in block
Amount of travel for each axis
(2) Acceleration for acceleration/deceleration before interpolation

• For linear acceleration/deceleration
The minimum value obtained using the following expression for each axis along
which movement is done is used as the acceleration for linear acceleration/
deceleration before interpolation during movement:
Rapid traverse rate for each axis (parameter No. 1420)
×
Time constant for each axis (parameter No. 1620)
Amount of travel in block
Amount of travel for each axis
• For bell-shaped acceleration/deceleration

The time constant set in parameter No. 1621 (time constant for bell-shaped
acceleration/deceleration for rapid traverse for each axis) for the axis for which the
minimum value is obtained using the above expression is applied to the feedrate
obtained using the above acceleration.

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Feedrate
deceleration
deceleration
ta Depends on the linear acceleration.

tb Time constant for bell-shaped
tc Bell-shaped acceleration/
deceleration time
tc = ta + tb
ta is not constant. It depends on
Time specified feedrate and time
tb tb tb tb
constant of rapid traverse.
tb is decided by the axis.
ta ta
tc tc
If the feedrate during movement is F, the acceleration for linear acceleration/deceleration is A,

the time constant for bell-shaped acceleration/deceleration is T, the time required for
acceleration/deceleration can be obtained as follows:
Time required for acceleration/deceleration
= F/A (linear acceleration/deceleration)
= F/A+T (bell-shaped acceleration/deceleration)
Feedrate
F
F/A : Time required for linear acceleration
T : Time required for rounding the corner
Time
T/2 F/A T/2
T T

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When the non-linear interpolation type is selected, movement is performed at the feedrate set
in parameter No. 1420 with acceleration/deceleration set in parameter No. 1620. The
corresponding value can be set in parameter No. 1621 to select bell-shaped acceleration/
deceleration. (To select bell-shaped acceleration/deceleration, the option of bell-shaped
acceleration/deceleration for rapid traverse is required.)
Note
1 Rapid traverse block overlap is disabled.
2 To use bell-shaped acceleration/deceleration, the option of bell-shaped
acceleration/deceleration for rapid traverse is required.
• Corresponding parameter numbers in the normal mode, advanced preview control mode, and AI contour control/AI
nano contour control mode
In the following tables, AI control means the AI contour control/AI nano contour control
mode.
(1) Parameters related to linear acceleration/deceleration before interpolation

Parameter number
Parameter Advanced
AI contour
Normal preview
control
control
Acceleration/deceleration type (A or B) FWB/1602#0 None
Parameter 1 for setting the acceleration 1630 1770
Parameter 2 for setting the acceleration 1631 1771
Feedrate at which an overtravel alarm
1784
occurs
(2) Parameters related to automatic corner deceleration

Parameter number
Parameter Advanced
AI contour
Normal preview
control
control
Method for determining whether to
perform automatic corner deceleration CSD/1602#4 None
(angle/feedrate difference)
Lower feedrate limit (control according
1778 1777 None
to the angle)
Angle at which automatic corner
deceleration is performed (control 1740 1779 None
according to the angle)
Allowable feedrate difference for all
axes (control according to the feedrate 1780 None
difference)
Allowable feedrate difference for each
axis (control according to the feedrate 1783
difference)
Acceleration/deceleration type (Type
FWB/1602#0 None
A/Type B)

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(3) Parameter related to feedrate clamping by acceleration
Parameter number
Parameter Advanced
AI contour
Normal preview
control
control
Parameter for determining the allowable
None 1785
acceleration
(4) Parameters related to feedrate clamping by arc radius

Parameter number
Parameter Advanced
AI contour
Normal preview
control
control
Arc radius corresponding to the upper
1731
feedrate limit
Upper feedrate limit at arc radius R 1730
Lower clamped feedrate limit 1732
(5) Other parameters

Parameter number
Parameter Advanced
AI contour
Normal preview
control
control
Precision of radius errors in circular
PCIR1/3403#0 None
interpolation
Maximum cutting feedrate (common to
1422 1431 1422
all axes)
Maximum cutting feedrate (for each
1430 1432
axis)
AIR/7054#1
Rapid traverse movement type LRP/1401#1
LRP/1401#1
Time constant for bell-shaped
acceleration/deceleration for rapid 1621
traverse
Arc radius corresponding to the upper
1731
feedrate limit

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No. B-63614EN/01-06

• Alarms
Num-
Message Description
ber
An unspecifiable G code was specified in
IMPROPER G CODE
5110 the AI contour control/AI nano contour
(G05.1 Q1 MODE)
control mode.
An unavailable modal G code was found
IMPROPER MODAL G
5111 when the AI contour control/AI nano
CODE (G05.1 Q1)
contour control mode was specified.
G08 CAN NOT BE The look-ahead control command (G08)
5112 COMMANDED (G05.1 was specified in the AI contour control/AI
Q1) nano contour control mode.
Intervention by manual operation was
performed during execution of the G28,
G30, G30.1, or G53 command (linear
CAN NOT ERROR IN
5114 interpolation type) in the AI contour control
MDI MODE (G05.1 Q1)
mode. After that, automatic operation was
restarted at a position other than the stop
position.
In the AI contour control/AI nano contour
control mode, the controlled axis selection
ILLEGAL AXIS signal (PMC axis control) changed.
5156
OPERATION (AICC) In the AI contour control/AI nano contour
control mode, the simple synchronous axis
selection signal changed.
The setting of the parameter for specifying
the maximum cutting feedrate (No. 1422,
1432, or 1420) is 0.
5157 PARAMETER 0 (AICC)
The setting of the parameter for specifying
acceleration/deceleration before
interpolation (No. 1770 or 1771) is 0.
• Notes
1) This function requires the AI contour control function or AI nano contour control
function option.
When the AI contour control function option is installed, the look-ahead control
function (G08P1) can also be specified. When the AI nano contour control function
option is installed, the AI contour control function and look-ahead control function
(G08P1) can also be specified.
2) When the total distance of blocks read in advance reaches the distance for decelerating
from the current feedrate, deceleration is started. When look-ahead operation proceeds
and the total distance of blocks increases by termination of deceleration, acceleration is
started again. If a series of blocks with a small amount of travel are specified, the
deceleration and acceleration may be alternated, which prevents the feedrate from being
constant. In this case, specify a lower feedrate.
3) When the dry run signal is inverted from "0" to "1" or from "1" to "0" during movement
along an axis, acceleration/deceleration is performed to the specified feedrate without
deceleration to feedrate 0.
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No. B-63614EN/01-06

4) If a non-movement block or one-shot G code command such as G04 is found in the AI
contour control/AI nano contour control mode, the movement is decelerated and
temporarily stopped in the preceding block.
5) For acceleration/deceleration after interpolation, use linear or bell-shaped
acceleration/deceleration. Exponential acceleration/deceleration cannot be used.
• Specifications
Axis control O : Can be specified × : Cannot be specified
Name Function
3 to 5
Number of controlled axes To use four to five axes, another option is
required.
Up to 4
Number of simultaneously
To use three or more simultaneously
controlled axes
controlled axes, another option is required.
The basic three axes are fixed to X, Y, and Z.
Axis name
Other axes are any of U, V, W, A, B, and C.
Least input increment 0.001 mm, 0.001 deg, 0.0001 inch
0.0001 mm, 0.0001 deg, 0.00001 inch
One-tenth input increment One-tenth input increment for each axis
cannot be used.
O If the AI contour control/AI nano contour
control option is installed, however,
switching between synchronous and
normal operation cannot be performed
during automatic operation (when the
Simple synchronous control
automatic operation signal (OP) is set to
1) regardless of whether the AI contour
control/AI nano contour control mode is
set. In this case, switching causes a
PS213 alarm.
Twin table ×
Angular axis control ×
O Full preloading cannot be performed,
Tandem control
however.
Chopping ×
Simple electric gear box ×
Inch/metric conversion
O (Note1)
(G20, G21)
Interlock O

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No. B-63614EN/01-06

Axis control O : Can be specified × : Cannot be specified
Name Function
O Movement along all axes stops.
To stop movement only along the
interlock axis in non-linear interpolation
Interlock for each axis type positioning in the AI contour control
mode, set bit 5 (AIL) of parameter No.
7054 to 1 and bit 4 (XIK) of parameter No.
1002 to 0.
O When the machine lock signal for each
axis (MLK1 to MLK8) is turned on or off,
Machine lock acceleration/deceleration is not applied to
the axis for which machine lock is
performed.
Stroke check before
O Set bit 1 (AIP) of parameter No. 7053 to 1.
movement
Mirror image O
Stored pitch error
O
compensation
Gradient compensation O
Straightness compensation O
O Set bit 3 (PSF) of parameter No. 6901 to
1.
Position switch
When this parameter is set to 1, the signal
output timing changes.
Abnormal load detection O
O Manual handle interruption is disabled
Manual handle interruption during switching to the AI contour control/
AI nano contour control mode.
External pulse synchronization ×
Flexible synchronization ×

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No. B-63614EN/01-06

Interpolation functions O : Can be specified × : Cannot be specified
Name Function
Positioning (G00) O
Single direction positioning O Set bit 4 (ADP) of parameter No. 7055 to
(G60) 1.
Exact stop (G09) O
Exact stop mode (G61) O
Tapping mode (G63) O
Linear interpolation (G01) O
Circular interpolation (G02, O (Circular interpolation for multiple
G03) quadrants is enabled.)
O (Dwell with the time in seconds or speed
specified)
Dwell (G04)
For dwell with the speed specified,
another option is required.
Cylindrical interpolation
×
(G07.1)
O (Circular interpolation + linear
Helical interpolation (G02, interpolation for up to two axes)
G03) Specify the feedrate including the helical
axis in the feedrate command.
Threading and synchronous
×
feed (G33)
Skip function (G31) O (Note1)
High-speed skip function
O (Note1)
(G31)
Multistage skip function
O (Note1)
(G31 Px)
O (Note1)
Reference position return To execute G28 in the status in which the
(G28) reference position is not established, set
bit 2 (ALZ) of parameter No. 7055 to 1.
Reference position return
O (Note1)
check (G27)
2nd, 3rd, and 4th reference
O (Note1)
position return (G30)
Floating reference position
O (Note1)
return (G30.1)
Normal direction control O Set bit 2 (ANM) of parameter No. 5484 to
(G41.1, G42.1) 1.

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No. B-63614EN/01-06

Interpolation functions O : Can be specified × : Cannot be specified
Name Function
Continuous dressing ×
In-feed control (G161) ×
O (Note1)
To set follow-up of the index table
Index table indexing indexing axis (fourth axis), set bit 7
(NAH4) of parameter No. 1819 and bit 0
(NMI4) of parameter No. 7052 to 1.
Feed functions O : Can be specified × : Cannot be specified

Name Function
Up to 240 m/min (0.001 mm)
Rapid traverse rate
Up to 100 m/min (0.0001 mm)
Rapid traverse rate override F0, 25, 50, 100 %
Rapid traverse rate override in
0 to 100 %
increments of 1%
Feed per minute (G94) O
O Set bit 0 (NPC) of parameter No. 1402 to
1. (Feed per revolution command is
Feed per revolution (G95) converted to feed per minutes command
internally from F command and S
command and executed.)
Cutting feedrate clamp O
Bell-shaped
acceleration/deceleration for O
rapid traverse
Positioning according to the
O Set bit 5 (AIO) of parameter No. 7057 to 1.
optimum acceleration
Linear
acceleration/deceleration after O
cutting feed interpolation
Bell-shaped
acceleration/deceleration after O
cutting feed interpolation
Linear O (Up to 40 blocks are read in advance in
acceleration/deceleration the AI contour control mode.)
before cutting feed (Up to 80 blocks are read in advance in
interpolation the AI nano contour control mode.)
Feedrate override 0 to 254 %
Second feedrate override ×

Draw
No. B-63614EN/01-06

Feed functions O : Can be specified × : Cannot be specified
Name Function
O To enable feedrate change using a manual
Single-digit F code feed handle, set bit 1 (AF1) of parameter No.
7055 to 1.
Inverse time feed (G93) O
Override cancel O
External deceleration O
Look-ahead bell-shaped
acceleration/deceleration O
Jerk control O
Program input O : Can be specified × : Cannot be specified

Name Function
Control in/control out
O
command ()
Optional block skip command
O
(/n: n is a number.)
Absolute command (G90)/
O
incremental command (G91)
Decimal point
programming/pocket
O
calculator type decimal point
programming
10-fold input unit O
Plane selection (G17, G18,
O
G19)
Rotation axis specification O
Rotation axis roll over O
Polar coordinate command
×
(G16)
Local coordinate system (G52) O (Note1)
Machine coordinate system
O (Note1)
(G53)
Workpiece coordinate system
(G54 to G59) O
(G54.1Pxx)
O (Note1)
(G92)
O (Note1)
preset (G92.1)

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No. B-63614EN/01-06

Program input O : Can be specified × : Cannot be specified
Name Function
Arbitrary angle
×
chamfering/corner rounding
O (Note1)
Programmable data input
Only the tool offset value, workpiece origin
(G10)
offset, and parameter can be changed.
Custom macro B O
Addition of custom macro
O
common variables
Pattern data input ×
Interruption type custom
×
macro
Canned cycle (G73 to G89) O (Note1)
Initial level return (G98)/
O (Note1)
point R level return (G99)
Small hole peck drilling cycle
×
(G83)
Arc radius R programming O
Automatic corner override O Set bit 0 (ACO) of parameter No. 7055 to
(G62) 1.
Automatic corner deceleration O
Feedrate clamping by arc
O
radius
Scaling (G51) O
Coordinate system rotation
O
(G68)
Three-dimensional coordinate O Set bit 2 (ACO) of parameter No. 7057 to
conversion (G68) 1.
Programmable mirror image
O
(G51.1)
Retrace ×
FS10/11 tape format O

Draw
No. B-63614EN/01-06

Auxiliary functions/
O : Can be specified × : Cannot be specified
spindle-speed functions
Name Function
Miscellaneous function O The function code and function strobe
(Mxxxx) signals are output only.
Second auxiliary function O The function code and function strobe
(Bxxxx) signals are output only.
High-speed M/S/T/B interface O
Multiple miscellaneous
O
function specification
Spindle-speed function
O
(Sxxxx)
Spindle synchronous control O
Simple spindle synchronous
O
control
O (Note1)
Set bit 5 (G8S) of parameter No. 1602 or
bit 3 (ACR) of parameter No. 7051 to 1.
Rigid tapping (AI contour control)
O (Note1)
Set bit 3 (ACR) of parameter No. 7051 to
1. (AI nano contour control)
Three-dimensional rigid
×
tapping
Tool compensation functions O : Can be specified × : Cannot be specified

Name Function
O The function code and function strobe
Tool function (Txxxx)
signals are output only.
Tool offset memory B O
Tool offset memory C O
Tool length compensation
O
(G43, G44, G49)
Tool offset (G45 to G48) ×
Cutter compensation C (G40,
O
G41, G42)
Tool life management ×
Tool management function ×
Automatic tool length
×
measurement

Draw
No. B-63614EN/01-06

Other functions O : Can be specified × : Cannot be specified
Name Function
Cycle start/feed hold O
Dry run O
Single block O
Sequence number comparison
O
and stop
O For the time constant for acceleration/
deceleration during movement to the
restart position, the following parameters
are used:
When exponential acceleration/
Program restart deceleration is used: Parameter Nos.
1624 and 1625
When linear/bell-shaped acceleration/
deceleration is used: Parameter No. 1622
To set the acceleration/deceleration type,
use bits 0 and 1 of parameter No. 1610.
Rigid tapping return ×
Macro executor
×
(execution macro)
MDI operation O
Manual intervention O
Note
1 Multiple blocks are not read in advance.
2 The above tables include a function that another option is required for
specifying.

Draw
No. B-63614EN/01-06

• Conditions for setting the AI contour control/AI nano contour control mode
When G05.1 Q1 is specified, the modal G codes must be set as listed below. If one of these
conditions is not satisfied, a PS5111 alarm occurs.
G code(s) Description
G00 Positioning
G01 Linear interpolation
G02 Circular interpolation (CW)
G03 Circular interpolation (CCW)
G15 Polar coordinate command cancel
G40 Cutter compensation cancel
G40.1 Normal direction control cancel mode
G49 Tool length compensation cancel
G50 Scaling cancel
G50.1 Programmable mirror image cancel
G64 Cutting mode
G67 Macro modal call cancel
G69 Coordinate system rotation cancel
G80 Canned cycle cancel
G94 Feed per minute
G97 Constant surface speed control cancel
G160 In-feed control function cancel

Draw
No. B-63614EN/01-06

FANUC Series 21i /210i - MB OPERATOR’S MANUAL
Concerning to addition of Limitations in CUSTOM MACRO

Name FANUC Series 21i /210i - MB OPERATOR’S MANUAL
Spec.No./Ed. B-63094EN/02, B-63614EN/01
2.Summary of Change
New, Add,
Applicable
Date
Delete
Basic
Optional
Function
Unit
Maintenance
Parts
As for LIMITATIONS in CUSTOM MACRO(II-15.9),
Notice the insufficient point in the description of feed hold is Addition Immediately
added.
Correction
Another

OPERATOR’S MANUAL
Title Concerning to addition of Limitations
in CUSTOM MACRO
Draw
No.
B-63094EN/02-09, B-63614EN/01-06

Date Aug.31.06 Desig. Check Apprv.
The description about Cutter Compensation is added in the description of OPERATOR’S MANUAL
“II.15.9 LIMITATIONS •Feed hold”
(Addition of the part of underline)
15.9 LIMITATIONS
• Feed hold
When a feed hold is enabled during execution of a macro statement, the
machine stops after execution of the macro statement. The machine also
stops when a reset or alarm occurs.
Therefore, CNC might not be able to preread two blocks if a feed hold is
enabled during the cutter compensation mode.
As a result, the tool path at this time becomes similar to the tool path
when two blocks without tool movement are commanded consecutively.
Please refer to “II-14.4 OVERVIEW OF CUTTER COMPENSATION C
(G40-G42) Explanations •Start up” as to the two blocks prereading and
“II-14.5.3 Tool Movement in Offset Mode •A block without tool
movement” as to the motion of a tool in a block without movement.

OPERATOR’S MANUAL
Title Concerning to addition of Limitations
in CUSTOM MACRO
Draw
No.
B-63094EN/02-09, B-63614EN/01-06

Date Aug.31.06 Desig. Check Apprv.

Add Info B-63614EN 01

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ADDITIONAL INFORMATION

FANUC Series 21i/210i/210is - MA OPERATOR’S MANUAL

1.Type of applied technical documents

FANUC Series 21i/210i/210is - MA OPERATOR’S MANUAL

Spec.No./Ed. B-63094EN/02, B-63614EN/01

Optional The explanations of “13.2 RIGID TAPPING” are Change,

01 01.10.25 Newly Registered No. B-63094EN/02-3, B-63614EN/01-1

EDT. DATE DESIGN DESCRIPTION PAGE 1/2

13.2.3 Peck Rigid Tapping Cycle (G84 or G74)

The description is added to “S command”.

13.2.4 Rigid Tapping Cancel (G80)

The chapter “13.2.4” is changed.

The rigid tapping cycle is canceled.

tapping, is also cleared. (It is the same that S0 is commanded.)

01 01.10.25 Newly Registered No. B-63094EN/02-3, B-63614EN/01-1

EDT. DATE DESIGN DESCRIPTION PAGE 2/2

１．Type of applied technical documents

FANUC Series 21i/210i/210is – MA OPERATOR’S MANUAL

Optional ALARM FOR FANUC SERVO MOTOR β series Add Immediate

ALARM FOR FANUC SERVO MOTOR β series I/O Link

EDIT DATE DISIGNE APPROV. DESCRIPTION FANUC LTD SHEET 1/8

Number Alarm type

Program or setting alarms (PS alarms)

ALARM FOR FANUC SERVO MOTOR β series I/O Link

EDIT DATE DISIGNE APPROV. DESCRIPTION FANUC LTD SHEET 2/8

Pulse coder alarms

ALARM FOR FANUC SERVO MOTOR β series I/O Link

EDIT DATE DISIGNE APPROV. DESCRIPTION FANUC LTD SHEET 3/8

ALARM FOR FANUC SERVO MOTOR β series I/O Link

EDIT DATE DISIGNE APPROV. DESCRIPTION FANUC LTD SHEET 4/8

ALARM FOR FANUC SERVO MOTOR β series I/O Link

EDIT DATE DISIGNE APPROV. DESCRIPTION FANUC LTD SHEET 5/8

ALARM FOR FANUC SERVO MOTOR β series I/O Link

EDIT DATE DISIGNE APPROV. DESCRIPTION FANUC LTD SHEET 6/8

ALARM FOR FANUC SERVO MOTOR β series I/O Link

EDIT DATE DISIGNE APPROV. DESCRIPTION FANUC LTD SHEET 7/8

I/O link alarm

ALARM FOR FANUC SERVO MOTOR β series I/O Link

EDIT DATE DISIGNE APPROV. DESCRIPTION FANUC LTD SHEET 8/8

1.Type of applied technical documents

FANUC Series 18i/180i/180is - MB OPERATOR’S MANUAL

Spec.No./Ed. B-63554EN/01, B-63094EN/02, B-63614EN/01

Optional Addition of the Changing Active Offset Value with

01 Feb.06 ’03 Newly Registered No. B-63554EN/01-1, B-63094EN/02-7, B-63614EN/01-4

EDT. DATE DESIGN DESCRIPTION PAGE 1/2

01 Feb.06 ’03 Newly Registered No. B-63554EN/01-1, B-63094EN/02-7, B-63614EN/01-4

EDT. DATE DESIGN DESCRIPTION PAGE 2/2

Changing Active Offset Value with Manual Move

02 030205 Overall revision

2.2 Specifying an offset to be changed

Selected offset Status indication

2.3 Changing the tool compensation

02 030205 Overall revision

· Specified H code: H10

2.4 Changing the cutter radius compensation

· Specified D code: D15

2.5 Changing the workpiece origin offset

02 030205 Overall revision

2.6 Operations specific to individual tool offset memory types

Tool offset memory Offset to be changed

02 030205 Overall revision

2.8 Tool life management