Fagor 8055tc

CUSTOMTY (P92) (CUSTOM TYpe)
On MC and TC models, it indicates the configuration being used.

On M and T models, always set it to "0".
XFORM (P93)
Indicates the spindle type: 0 = Standard spindle 1 = Reserved

2 = Dual swivel spindle 3 = Angled spindle
XFORM=2 XFORM=2 XFORM=3
XFORM1 (P94)
Sets the spindle axes and their order.
The rotary axes are called A, B or C depending on whether the

rotation axis is X, Y or Z respectively.
When having a dual swivel spindle "XFORM=2", parameter

"XFORM1" indicates which one is the main axis (carrier) and
which is the secondary or the one being carried.
XFORM1=0 B is the main axis and A is the secondary one.

XFORM1=1 C is the main axis and A is the secondary one.
XFORM1=2 A is the main axis and B is the secondary one.
XFORM1=3 C is the main axis and B is the secondary one.
When having an angled spindle "XFORM=3", the main axis must be parallel to one of
the axes X, Y, Z and the secondary axis will be at an angle with respect to it.
Possible Not possible
Page Chapter: 3 Section:

26 MACHINE PARAMETERS GENERAL
In the example, B is the main axis associated with the Y axis and
C is the secondary axis associated with the Z axis.
Parameter "XFORM1" indicates which is the main rotary axis

(carrier) and which is the secondary or carried axis.
XFORM1=0 A is the main axis and C is the secondary axis

XFORM1=1 B is the main axis and C is the secondary axis
XFORM1=2 C is the main axis and A is the secondary axis
XFORM1=3 C is the main axis and B is the secondary axis
XFORM2 (P95)
Defines the rotating direction of the rotary axes.
0 = The one according to the "DIN 66217" standard (see figure)

1 = Changes the rotating direction of the main axis
2 = Changes the rotating direction of the secondary axis.
3 = Changes the rotating direction of both axes (main and secondary).
XDATA0 (P96)
XDATA1 (P97)
XDATA2 (P98)
XDATA3 (P99)
XDATA4 (P100)
XDATA5 (P101)
XDATA6 (P102)
XDATA7 (P103)
XDATA8 (P104)
XDATA9 (P105)
These parameters are used to define the dimensions of the spindle.
All of them need not be defined. Next a description of which parameters must be set for
each spindle model and their meanings.
Chapter: 3 Section: Page

MACHINE PARAMETERS GENERAL 27
Dual swivel spindle head
XDATA1 (P97) Distance between the nose of the spindle and the carried rotary axis.
XDATA2 (P98) Distance between the tool axis and the carried rotary axis.
XDATA3 (P99) Distance between both rotating axes.
XDATA4 (P100) Distance between the tool axis and the main rotary axis (carrier).
This distance must be measured in the direction of the secondary
(carried) axis.

Angled spindle head
XDATA0 (P96) Angle in degrees between both rotary axes.

XDATA1 (P97) Distance between the spindle nose and the carried rotary axis (secondary)
XDATA2 (P98) Distance between the tool axis and the carried rotary axis.
XDATA3 (P99) Distance between both rotary axes.
XDATA4 (P100) Distance between the tool axis and the main (carrier) rotary axis. This
distance must be measured in the direction of the carried rotary axis.

PRODEL (P106)(PRObe DELay)
The CNC takes this parameter into account when probing, functions G75, G76, Probe
and Digit cycles.
When using infrared communications between the digital probe and the CNC, there
could be a slight delay (milliseconds) between the moment the probe touches the part
and when the CNC receives the signal.
The probe keeps moving until the CNC receives the probe signal.
Parameter PRODEL indicates, in milliseconds, the delay mentioned earlier.
Possible values: Integers between 0 and 255.
The default value is "0".
While probing, the CNC always takes into account the value assigned to parameter
PRODEL and provides the following information (variables associated with the
coordinates):
TPOS Actual position of the probe when its signal is received.

DPOS Theoretical position of the probe when it actually touched the part.
With "PRODEL=0", the DPOS variable has the same value as the TPOS variable.
To set this parameter, the PROBE2 probe calibration cycle can be used. After it is
executed, global parameter P299 returns the best value to be assigned to parameter
PRODEL.
MAINOFFS (P107) (MAINtain OFFSet)
Indicates whether the CNC maintains the tool offset number (D) on power-up and after
an EMERGENCY or RESET.
0 = It does not maintain it. It always assumes offset D0.

1 = It maintains it.
The default value is "0" (it does not maintain it).

ACTGAIN2 (P108) (ACTivate GAIN2)
The axes and the spindle may have two gain and acceleration ranges.
By default, the CNC assumes the values set by axis and spindle parameters "ACCTIME,
PROGAIN, DERGAIN and FFGAIN"
Parameter ACTGAIN2 indicates when the CNC assumes the gains and accelerations set
by axis or spindle parameters "ACCTIME2, PROGAIN2, DERGAIN2 and FFGAIN2".
Parameter ACTGAIN2 has 16 bits starting from left to right. Each bit has a function or
operating mode assigned to it.
bit 1 bit 2 bit 3 bit 4 bit 5 bit 6 bit 7 bit 8 bit 9 bit 10 bit 11 bit 12 bit 13 bit 14 bit 15 bit 16
G75 Rigid
G0 G1 G33 G47 G48 G49 G50 G51 G95 JOG
G76 tapping
Every time one of this functions or operating mode is activated, the CNC checks the
value set for the corresponding bit and acts as follows:
bit = 0 Applies the first range "ACCTIME, PROGAIN ..."

bit = 1 Applies the second range "ACCTIME2, PROGAIN2 ..."
When that function or operating mode is deactivated, the CNC applies the first range
"ACCTIME, PROGAIN ..."
Example: When setting ACTGAIN2 = 1000 0000 0001 0000, the CNC applies
the second range to all the axes and the spindle whenever function G1 or the
JOG mode is selected.
Warning: The change of gain and acceleration takes place at the beginning of the
block.
When operating in round corner (G05), no change takes place until G7
is programmed.
G2 X10 Y10 I10 J0 Range 1 G05 G2 X10 Y10 I10 J0 Range 1

G1 X20 Range 2 G1 X20 Range 1
G3 X30 Y20 I0 J10 Range 1 G3 X30 Y20 I0 J10 Range 1
G1 Y30 Range 2 G07 G1 Y30 Range 2
The gain and accelerations may also be changed from the PLC. To do
that, there is a general logic CNC input ACTGAIN2 (M5013).
Every time this input is activated, the CNC selects the second gain and
acceleration range regardless of the active operating mode or function.

TRASTA (P109) (TRAce STAtus)
The tracing algorithm has been improved with a special treatment for when the lateral
deflections are considerable.
Nevertheless, in order to keep compatibility with previous versions, this parameter

indicates whether the new algorithm or the old one is used.
0 = Old algorithm
1 = New algorithm
The default value is "1" (new algorithm).
DIPLCOF (P110) (DIsplayPLCOFset)
With variable PLCOF(X-C), it is possible to set an additive zero offset for each CNC
axis from the PLC.
Parameter "DIPLCOF" indicates whether the CNC takes into consideration or not this
value when displaying the coordinates of the axes on the screen and when accessing
the POS(X-C) and TPOS(X-C) variables.
0 = When displaying the position of the axes referred to home, it only takes into
account the additive zero offset set by PLC. The coordinate returned by the
POS(X-C) and TPOS(X-C) variables takes into account the additive offset set
by PLC.
1 = When displaying the position of the axes, it ignores the additive offset set by
PLC.
The coordinate returned by the POS(X-C) and TPOS(X-C) variables ignores
the additive offset set by PLC.
2 = When displaying the position of the axes, the CNC takes into account the
additive offset set by the PLC except when showing the COMMAND -
ACTUAL -TO GO coordinates.
The coordinate returned by the POS(X-C) and TPOS(X-C) variables takes
into account the additive offset set by PLC.
HANDWIN (P111) (HANDWheel INput)

HANDWHE1 (P112)
HANDWHE2 (P113)
HANDWHE3 (P114)
HANDWHE4 (P115)
Handwheels can be connected either to the axes module or I/O module. When
connected to the I/O module, the A, B feedback signals of the handwheel are connected
to some general 24V inputs.
General machine parameter HANDWIN (P111) indicates which input group the
electronic handwheels are associated with. Possible values: 0, 17, 33, 49, 65, 81, 97,
113, 129, 145, 161, 177, 193, 209, 225, 241.

HANDWIN = 0 There is no handwheel connected to the I/O module
HANDWIN =17 Handwheels connected to the input group I17 through I25
The meaning of these inputs is the following:

I17 I33 .... I225 I241 Axis selector button signal of the handwheel (if it has one)
(it can only be the first one)
I18 I34 .... I226 I242 A signal from the first handwheel.
I19 I35 .... I227 I243 B signal from the first handwheel.
I20 I36 .... I228 I244 A signal from the second handwheel.
I21 I37 .... I229 I245 B signal from the second handwheel.
I22 I38 .... I230 I246 A signal from the third handwheel.
I23 I39 .... I231 I247 B signal from the third handwheel.
I24 I40 .... I232 I248 A signal from the fourth handwheel.
I25 I41 .... I233 I249 B signal from the fourth handwheel.
To define the type of handwheel and its associated axis, use the following general
machine parameters:
HANDWHE1 (P112) for the first handwheel
HANDWHE2 (P113) for the second handwheel
HANDWHE3 (P114) for the third handwheel
HANDWHE4 (P115) for the fourth handwheel
The values to be assigned to these parameters are:
11 = Handwheel 12 = Handwheel with axis selector button
21 = Handwheel associated with X 22 = Handwheel associated with Y
23 = Handwheel associated with Z 24 = Handwheel associated with U
25 = Handwheel associated with V 26 = Handwheel associated with W
27 = Handwheel associated with A 28 = Handwheel associated with B
29 = Handwheel associated with C
Either one general handwheel can be used (11 or 12) or 4 handwheels associated with
the axes. In other words, it is not possible to use 2 general handwheels or to combine
a general handwheel with any other/s associated with the axes.
STOPTAP (P116) (STOP TAPping cycle)
Indicates whether the general inputs /STOP (M5001), /FEEDHOL (M5002) and /
XFERINH (M5003) are enabled (P116=YES) or not (P116=NO) while executing
function G84, regular tapping or rigid tapping.
INSFEED (P117) (tool INSpection FEED)
Sets the tool inspection feedrate.

When accessing tool inspection, the CNC assumes this feedrate as the new one, and it
resumes the execution of the program at the previous feedrate (the one used in the
program or set via MDI while in tool inspection) when tool inspection is over.
Possible values: From 0.0001 to 199999.9999 degrees/min or mm/min.
From 0.00001 to 7874.01574 inches/min.
If set to "0" (by default), tool inspection will be carried out at the feedrate currently used
for machining.

DISTYPE (P118)
Not being used at this time.
PROBERR (P119) (PROBing ERRor)
Indicates whether the CNC issues an error message when the axes reach the programmed
position without having received the probe signal while executing function G75 or
G76.
YES = It issues the error message.

NO = It does NOT issue the error message.
By default, the CNC sets this parameter to "NO".
Note: With digitizing cycles DIGIT1 or DIGIT2, set "P119=NO"
SERSPEED (120) (SERcos SPEED)
Sets the Sercos communications speed (baudrate).
Possible values: 0 4 Mbit/s

1 2 Mbit/s
80 Sercos test. Continuous signal mode.
81 Sercos test. Zero bit stream mode at 2 Mbit/s
91 Sercos test. Zero bit stream mode at 4 Mbit/s
By default, the CNC sets this parameter to "0" (recommended value)
SERPOWSE (P121) (SERcos optical POWer SElection)
Set the power of the sercos light traveling through the optic fiber.
Possible values: From 1 to 6.
The default value of this parameter is "4" (recommended value)

LANGUAGE (P122)
Sets the operating language
Possible values: 0 English 3 Italian 6 Portuguese

1 Spanish 4 German
2 French 5 Dutch
The default value of this parameter is "0" (English)
GEOMTYPE (P123) (GEOMetry TYPE)
It indicates whether the cutter geometry is associated with the tool (T) or with the tool
offset (D).
The "T" function, tool number, indicates the magazine position it occupies.
The "D" function, offset, indicates the tool dimensions.
0 = It is associated with the tool number (like in previous versions)

1 = It is associated with the tool offset.
The default value of this parameter is "0" (associated with the tool number)
When using a tool holding turret, the same turret position is usually used by several
tools. In those cases, the "T" function refers to the turret position and the "D" function
to the dimensions and geometry of the tool occupying that position. Thus,
"GEOMTYPE=YES"
SPOSTYPE (P124) (Spindle POSitioning TYPE)
It indicates whether the spindle is oriented in the canned cycles either using the M19
function or using the "C" axis.
0 = The spindle is oriented by means of the M19 function (as in previous versions)
1 = The spindle is oriented by means of the "C" axis.
The default value of this parameter is "0" (oriented using the M19 function)
When the machine uses a "C" axis, it is recommended to always orient the spindle using
the "C" axis since better accuracy is achieved that way.

AUXSTYPE (P125) (AUXiliary Spindle TYPE)
It indicates whether the live tool is handled with the M45 function or like a second
spindle (G28 function)
0 = The live tool is handled with the M45.

1 = The live tool is handled like a second spindle (G28 function).
The default value of this parameter is "0" (handled with M45).
When a live tool uses several work ranges, it must be used like a second spindle. To do
that:
• Set "AUXSTYPE (P125)=1"
• Define the machine parameters of the second spindle to set the live tool.
• Use the G28 function to select the live tool.
In the Mill model, with "AUXTYPE (P125)=1" and "STOPTAP (P116)=YES" it is

possible to interrupt the execution of the drilling and tapping canned cycles by means
of the general inputs /STOP (M5001), /FEEDHOL (M5002) and /XFERINH
(M5003).
FOVRG75 (P126) (Feed OVeRride G75)
It indicates whether the G75 function ignores or not the setting of the Feedrate Override
switch.
0 = It ignores the setting of the switch. Always at 100%

1 = Is affected by the % of the switch.
The default value of this parameter is "0" (always set to 100%)
CFGFILE (P127) (ConFiGuration FILE)
Number of the file to configure the windows that may be customized.

3.3.2 MACHINE PARAMETERS FOR THE AXES
AXISTYPE (P0)
Defines the axis type and whether it is commanded from the CNC or the PLC
0 = Normal linear axis.
1 = Rapid positioning linear axis (G00).
2 = Normal rotary axis.
3 = Rapid positioning rotary axis (G00).
4 = Rotary axis with HIRTH toothing (positioning in whole degrees).
5 = Normal linear axis commanded from the PLC.
6 = Rapid positioning linear axis (G00) commanded from the PLC.
7 = Normal rotary axis commanded from the PLC.
8 = Rapid positioning rotary axis (G00) commanded from the PLC.
9 = Rotary axis with HIRTH toothing (positioning in whole degrees)
commanded from the PLC.
By default, the CNC assumes a value of 0 for this parameter (regular linear axis).
Warning:
By default, rotary axes are Rollover and are displayed between 0º and
359.9999º.
If rollover is not desired, set machine parameter ROLLOVER (P55)=NO".
The axis position will be displayed in degrees.
Positioning-only and/or Hirth axes follow the shortest path when programmed
in absolute (G90). In other words, if its current position is 10º, and its target
position is 350º, the axis will go through, 10º, 9º, 8º, ..., 352º, 351º, 350º.
For further information, refer to the section on "Rotary axes" of the chapter on
"Concepts" in this manual.
DFORMAT (P1) (Display FORMAT)

Indicates the work units (radius or diameter) and the display format used for the axis.
DFORMAT Work units Format in degrees Format in mm Format in inches
0 radius 5.3 5.3 4. 4
1 radius 5.4 5.4 4. 5
2 radius 5.2 5.2 4. 3
3 radius It is not displayed
4 diameter 5.3 5.3 4. 4
5 diameter 5.4 5.4 4. 5
6 diameter 5.2 5.2 4. 3
By default, the CNC assumes a value of 0 for this parameter.

MACHINE PARAMETERS FOR THE AXES 37
GANTRY (P2)
Indicates, if it is a GANTRY axis, which axis is this one associated with. This
parameter is to be set only on the slaved axis. The code is:
0 = It is NOT GANTRY. 5 = Associated with V axis.
1 = Associated with X axis. 6 = Associated with W axis.
2 = Associated with Y axis. 7 = Associated with A axis.
3 = Associated with Z axis. 8 = Associated with B axis.
4 = Associated with U axis. 9 = Associated with C axis.
The position of the Gantry axis is displayed next to its associated axis unless machine
parameter "DFORMAT(P1)=3".
It is possible to have more than one GANTRY pair of axis. The CNC assumes the
default value of 0 for this parameter.
Example:
If the X and U axes form a GANTRY pair, the U axis being the slave axis. The
corresponding parameters will be programmed:
Parameter GANTRY for X axis = 0
Parameter GANTRY for U axis = 1 (associated with X axis)
This way, When programming an X axis move, the U axis will also move the
same distance.
SYNCHRO (P3) (SYNCHROnization)
It is possible to couple or decouple each one of the axes by PLC program using the
logic inputs of the CNC: “SYNCHRO1”, “SYNCHRO2”, “SYNCHRO3”,
“SYNCHRO4”, “SYNCHRO5”, “SYNCHRO6”. Each axis will be synchronized
to the axis indicated in its machine parameter “SYNCHRO”.
Indicates which axis will this one (slave) be coupled to when it so requested by the
PLC.
0 = Coupled to none. 5 = Coupled to V axis.
1 = Coupled to X axis. 6 = Coupled to W axis.
2 = Coupled to Y axis. 7 = Coupled to A axis.
3 = Coupled to Z axis. 8 = Coupled to B axis.
4 = Coupled to U axis. 9 = Coupled to C axis.
This way, to couple the V axis to the X axis, the following machine parameters must
be defined:
SYNCHRO of the X axis = 0 (X is the master)
SYNCHRO of the V axis = X (V is the slave)
When the PLC activates the logic input “SYNCHRO” of the CNC corresponding to
the V axis, this axis will be electronically coupled to the X axis.

38 MACHINE PARAMETERS FOR THE AXES
DROAXIS (P4) (Digital ReadOut AXIS)
Indicates whether it is a normal axis or it only works as a Digital Read Out
NO = It is a normal axis.
YES = It only works as a Digital Read Out.
By default the CNC assumes the axis to be normal (NO)
LIMIT+ (P5)
LIMIT- (P6)
Indicate the software travel limits (positive and negative). They must indicate the
distance from the machine reference zero (home) to these limits.
Possible values: ±99999.9999 millimeters or degrees.

±3937.00787 inches.
On linear axes, a "0" value means that there are no travel limits.
On rotary axes:
* When both parameters are set to "0", the axis may be moved indefinitely in any
direction (rotary tables, indexers, etc.)
When working with positioning only or HIRTH axes, they should be programmed
using incremental position values in order to avoid errors. For example, the "C"
axis with P5=0, P6=720 and the axis positioned at 700 (the screen displays 340)
if G90 C10 is programmed, this axis tries to go via the shortest path (701, 702,...)
but it issues an error message since it exceeds the travel limit.
* On positioning only and HIRTH axes, if the travel is limited to less than a
revolution, they cannot be moved via the shortest path.
* When the travel is limited to less than a revolution, it is possible to display positive
and negative position values (for example: P5=-120, P6=120) as well as
programming them in G90.
By default, the CNC assumes a value of 8000 mm for "LIMIT+" and -8000 mm for
"LIMIT-".

PITCH (P7)
Indicates the distance per revolution of the rotary encoder or the grating pitch of the
linear feedback device in use. With a FAGOR scale, assign a value of 20 µm or 100
µm.
On a rotary axis, it must indicate the number of degrees per revolution of the encoder.
For example, if the encoder is mounted on the motor and the axis has a gear reduction
factor of 1/10, this parameter must be set to 360º/10 = 36.
Possible values: 0.0001 thru 99999.9999 millimeters.

0.00001 thru 3937.00787 inches.
0.0001 thru 99999.9999°
NPULSES (P8) (Number of PULSES)
Indicates the number of pulses per revolution provided by the encoder. When using
a linear scale, set this parameter to 0 and the CNC will always apply 1 pulse per each
grating pitch.
Possible values: integers 0 thru 65535.
DIFFBACK (P9) (DIFferential FeedBACK)
Indicates Whether the feedback device outputs differential signals (double-ended) or

not.
NO = No differential signals
YES = It uses differential signals
By default, the CNC assumes YES for this parameter.
SINMAGNI (P10) (SINusoidal MAGNIfication)
Indicates the multiplying factor (x1, x4, x20, etc.) that the CNC will apply to the sine-
wave feedback signal for this axis.
When using square-wave feedback signals, set this parameter to 0 and the CNC will
always apply a x4 multiplying factor.
By default, the CNC assumes a value of 0 (squarewave feedback signals) for this
parameter.
The counting resolution of the CNC is determined using parameters P7, P8 and P10
as shown in the examples on the following pages:

METRIC, INCH & ROTARY AXIS FEEDBACK CALCULATION
EXAMPLES
SINMAGNI COUNTING* MAXSPEED**
TYPE OF FEEDBACK PITCH NPULSES DIFFBACK
(XFACTOR) RESOLUTION LIMIT
METRIC
8mm pitch ballscrew with

0
2000 line squarewave encoder and 8.000mm 2000 YES 0.001mm 24M/min.
(x4)
1:1 gear ratio.
20
FAGOR Sinewave C scale 0.020mm 0 NO 0.001mm 30M/min.
(x20)
FAGOR Squarewave CX scale 0.020mm 5 YES 0 0.001mm 24M/min.

(x4)
(Special case; These scales already

apply an x5 factor to the
squarewave signals before they
leave the reader head!).
100
FAGOR Sinewave F scale 0.100mm 0 NO 0.001 30M/min.
(x100)
INCH
.2" pitch ballscrew with

0
500 line squarewave encoder and 0.2" 500 YES 0.0001" 2400"/min.
(x4)
1:1 gear ratio.
.25" pitch ballscrew with

0
1250 line squarewave encoder and 0.25" 1250 YES 0.00005" 1200"/min.
(x4)
1:1 gear ratio.
ROTARY AXIS
4° per encoder turn with

0 24,000°/min.
1000 line squarewave encoder and 4.000° 1000 YES 0.001°
(x4) (66 rpm)
90:1 gear ratio.
360° per encoder turn with

20 300,000°/min
3600 line sinewave encoder and 360.000° 3600 NO 0.005°
(x20) (833RPM)
1:1 gear ratio.
* COUNTING RESOLUTION = PITCH ÷ NPULSES ÷ XFACTOR
** MAXSPEED LIMIT:
= MAX SIGNAL FREQUENCY * XFACTOR * 60 * COUNTING RESOLUTION
MAXIMUM SIGNAL FREQUENCY: WILL BE LIMITED BY ONE OF THE 6 ITEMS LISTED BELOW.
FAGOR CNC = 425KHZ SQUARE FEEDBACK!
= 50KHZ SINEWAVE FEEDBACK!
FAGOR ENCODERS = MAXIMUM MECHANICAL SPEED IS 12,000 RPM!

=MAXIMUM SIN OR SQR WAVE SIGNAL SPEED IS 100KHZ!
FAGOR SCALES = MAXIMUM MECHANICAL SPEED IS 30M/MIN (1,181 INCHES/MIN)!

= MAXIMUM SIN OR SQR WAVE SIGNAL SPEED IS 100KHZ!

MAXIMUM SIGNAL FREQUENCY:
FAGOR ENCODERS = MAXIMUM MECHANICAL SPEED IS 12,000 RPM!
= MAXIMUM SIN OR SQR WAVE SPEED IS 100KHZ!
! Denotes speed limiting item.
ENCODER LINE COUNT 50 100 200 250 400 500
MAX MECHANICAL SPEED 12,000 RPM! 12,000 RPM! 12,000 RPM! 12,000 RPM! 12,000 RPM! 12,000 RPM!
MAX SIGNAL SPEED 10KHZ 20KHZ 40KHZ 50KHZ 80KHZ 100KHZ!
DIFFERENTIAL OUTPUT YES YES YES YES YES YES

ENCODER LINE COUNT 600 635 1000 1024 1250 1270
MAX MECHANICAL SPEED 10,000 RPM 9,448 RPM 6,000 RPM 5,859 RPM 4,800 RPM 4,724 RPM
MAX SIGNAL SPEED 100KHZ! 100KHZ! 100KHZ! 100KHZ! 100KHZ! 100KHZ!
DIFFERENTIAL OUTPUT YES YES YES YES YES YES

ENCODER LINE COUNT 1500 2000 2500 3000 SW3600 5000
MAX MECHANICAL SPEED 4,000 RPM 3,000 RPM 2,400 RPM 2,000 RPM 1,666 RPM 1,200 RPM
MAX SIGNAL SPEED 100KHZ! 100KHZ! 100KHZ! 100KHZ! 100KHZ!*** 100KHZ!
DIFFERENTIAL OUTPUT YES YES YES YES NO YES
*** NOTE:
THE CNC CAN ONLY COUNT 50KHZ (833 RPM) OF SW3600 SINEWAVE SIGNALS.
MAXIMUM SIGNAL FREQUENCY:

FAGOR SCALES = MAXIMUM MECHANICAL SPEED IS 30M/min (1,181 inches/min)
= MAXIMUM SIN OR SQR WAVE SPEED IS 100KHZ!
SCALE MODEL MVS CVS FS MVX CVX FT
30M/min! 30M/min! 30M/min! 24M/min 24M/min 24M/min

MAX MECHANICAL SPEED
(1181"/min) (1181"/min) (1181"/min) (944"/min) (944"/min) (944"/min)
MAX SIGNAL SPEED 25KHZ 25KHZ 5KHZ 100KHZ! 100KHZ! 100KHZ!
GRATING PITCH 0.020mm 0.020mm 0.100mm 0.020mm 0.020mm 0.100mm
A.S.I.C. MULTIPLIER N/A N/A N/A x5 x5 x25
DIFFERENTIAL OUTPUT NO NO NO YES YES YES
NOTE: SOME FAGOR SCALES AND ENCODERS ARE INTENTIONALLY NOT LISTED HERE.

FBACKAL (P11) (FeedBACK ALarm)
This parameter is to be used only when the feedback signals are sinusoidal or
differential (double ended).
Indicates whether the feedback alarm for this axis will be ON or OFF.
OFF = Feedback alarm Cancelled.

ON = Feedback alarm Active.
By default, the CNC keeps the feedback alarm active (ON).
FBALTIME (P12) (FeedBack ALarm TIME)
It indicates the maximum time period given to the axis to respond to the analog voltage
output by the CNC.
The CNC calculates the number of feedback pulses that it must receive in each
sampling time period according to the corresponding analog voltage output.
It is assumed that the axis is performing properly when the feedback pulses received
are within 50% and 200% of those expected (calculated) by the CNC.
If at some point the feedback pulses received are not within this range, the CNC will
keep checking them for a period of time indicated in this parameter to “see” that the
axis performance is back to normal (between 50% and 200%). If this has not happened
in this time period, the CNC will issue the corresponding error message.
This parameter may have an integer value between 0 and 65535 milliseconds.
The default value for this parameter is "0". (no monitoring).
AXISCHG (P13) (AXIS CHanGe)
Indicates the counting direction of the feedback signals. If correct, leave it as is. If not,
change it from NO to YES or vice versa.
If this parameter is modified, parameter “LOOPCHG” (P26) must also be

modified so the axis does not run away.
Possible values: YES and NO.
By default, the CNC assumes NO for this parameter.
BACKLASH (P14)
Indicates the amount of backlash. Enter 0 when using linear scales.

±3937.00787 inches.

LSCRWCOM (P15) (LeadSCReW COMpensation)
Indicates whether the CNC should apply leadscrew error compensation or not.
OFF = Not applied.

ON = Leadscrew error compensation applied.
By default, the CNC does NOT apply leadscrew error compensation (OFF).
NPOINTS (P16) (Number of POINTS)
Indicates the number of leadscrew error compensation points available in the table.
The values in this table will be applied if parameter “LSCRWCOM” (P15) is ON.
Possible values: Integer values between 0 and 255.
DWELL (P17)
Indicates the dwell from the moment the ENABLE signal is activated until the analog
signal is sent out.
It is given in milliseconds and it admits any integer value between 0 and 65535.
By default, the CNC assumes a value of 0 for this parameter (no dwell).
ACCTIME (P18) (ACCeleration TIME)
Indicates the time it takes the axis to reach the maximum feedrate selected by axis-
machine-parameter “G00FEED” (acceleration stage). The deceleration time will be
the same.
By default, the CNC assumes a value of 0 for this parameter (no acceleration/
deceleration control).
INPOSW (P19) (IN POSition Width)
Indicates the width of the IN POSITION zone (dead band) where the CNC considers
the axis to be in position.
Possible values: 0 thru 99999.9999 millimeters.

0 thru 3937.00787 inches.
0 thru 99999.9999°
By default, the CNC assumes a value of 0.01 mm for this parameter.

INPOTIME (P20) (IN POsition TIME)
Indicates the time period that the axis must remain in the “IN POSITION” zone in
order to consider it to be in position.
This prevents the CNC from considering the axis to be in position and executing the
next block on those machines where the axis could just overshoot the “IN POSITION”
zone.
MAXFLWE1 (P21) (MAXimum FoLloWing Error)
Indicates the maximum following error allowed when this axis moves.
Possible values: 0 thru 99999.9999 millimeters or degrees.

By default, the CNC assumes a value of 30 mm for this parameter.
Indicates the maximum following error allowed when this axis is stopped.
Possible values: 0 thru 99999.9999 millimeters or degrees.

By default, the CNC assumes a value of 0.1 mm for this parameter.

PROGAIN (P23) (PROportional GAIN)
Indicates the value of the Proportional Gain. It is given in millivolts/mm and it admits
integer values between 0 and 65535.
Its value represents the analog voltage corresponding to a following error of 1mm
(0.040 inches).
By default, the CNC assumes a value of 1000 mV/mm.
Example 1 in metric:
Machine parameter “G00FEED” = 20000 mm/min and the feedrate for the
desired following error of 1mm (0.040") is 1000mm/min.
The analog voltage for 20000 mm/min is 9.5 V.
Analog corresponding to F = 1000 mm/min:
9.5 V.
Analog Voltage = -------------------- x 1000 mm/min. = 475 mV.
20000 mm/min.
Therefore, “PROGAIN” = 475
This formula also works for feedrates in inches.
Example 2 in inches:
Axis parameter “G00FEED” is set for 500 inches/min and the desired Following
Error is 0.001 inch for a feedrate of 1 inch/min (unity gain).
Drive analog signal: 9.5V for F(G00) = 500 inches/min
Analog voltage corresponding to 0.3937 inch (1mm) = Pg:
9,500mV x 1 inch/min
Pg = ---------------------------- x 39.37 = 748 mV
500 inch/min
Example 3 in inches: "MAXVOLT" is set for 9.5V (9500mV)
"G00FEED" is set for 500 inches/min
A gain of 1 is desired: 1mm (0.03937 inches) of following error at 1m/min.
(39.37inches/min.).
Then:
9500mV
------------------- x 39.37inches/min = 748 mV/mm (0.03937") following error.
500inches/min
Example 4 in inches: All variables are the same as in Example 3 except that the gain has
been increased by 20% to 1.2: 1mm (0.03937 inches) of following error at 1.2m/min
(47.24inches/min). Then:
9500mV
------------------- x 47.24inches/min = 898 mV/mm (0.03937") following error.
500inches/min

DERGAIN (P24) (DERivative GAIN)
Indicates the value of the Derivative Gain. It is given in mV/10msec. and it admits
values between 0 and 65535.
Its value represents the analog voltage (in millivolts) corresponding to a change in
following error of 1mm (0.03937 inches) in 10 milliseconds.
This analog voltage will be added to the one calculated for the Proportional Gain.
ε · DERGAIN
Analog (mV) = ε · PROGAIN + ----------------
10 t
It is a good idea to also use the acc./dec. machine parameter “ACCTIME” for this axis
(with a value other than 0) if this gain is to be applied.
By default, the CNC will assume a value of 0 (derivative gain not applied).
FFGAIN (P25) (Feed-Forward GAIN)

Indicates the % of the analog voltage due to the programmed feedrate. The rest will
depend upon the following error. Both the Proportional and Derivative gains will be
applied onto this following error.
The Feed-Forward Gain lets improve the positioning loop minimizing the following
error and it should be used when the “ACCTIME” machine parameter for this axis is
active (acc/dec. being applied).
ε · DERGAIN
ε · PROGAIN +------------------
FFGAIN progr. F
Analog = + ----------- ---------- MAXVOLT
10 t 100 G00FEED
Programmed
Analog output
Feedrate
Feedback

Usually, a value between 40% and 80% is assigned depending mainly on the type of
machine and its characteristics.
By default, the CNC assumes a value of 0 for this parameter (no Feed-Forward gain
applied).

LOOPCHG (P26) (LOOP CHanGe)
Indicates the sign of the analog output. If correct, leave it as is. If not, change it from
YES to NO or vice versa.
By default, the CNC assumes NO.
MINANOUT (P27) (MINimum ANalog OUTput)
Indicates the minimum analog output for this axis.
It is given in D/A converter units and it admits integer values between 0 and 32767
which corresponds to an analog voltage value of 10V.
MINANOUT Minimum Analog
1 0.3 mV.
... .....
3277 1 V.
... .....
32767 10 V.
SERVOFF (P28) (SERVo OFFset)
Indicates the offset value applied to the analog output for the drive.
It is given in D/A converter units and it admits integer values between 0 and +32767
which corresponds to an offset value of +10V.
SERVOFF Offset
-32767 -10 V.
... .....
-3277 -1 V.
... .....
1 0.3 mV.
... .....
3277 1 V.
... .....
32767 10 V.
By default, the CNC assumes a value of 0 for this parameter (no offset).

BAKANOUT (P29) (BAcKlash ANalog OUTput)
Additional analog pulse to compensate for backlash when changing movement direction.
which corresponds to an analog voltage of 10V.
BAKANOUT Additional analog
1 0.3 mV.
... .....
3277 1 V.
... .....
32767 10 V.
Every time the axis changes direction, the CNC will apply the analog voltage
corresponding to the move plus the one corresponding to The value selected in this
machine parameter. This additional analog voltage will be applied for a period of time
indicated in the axis machine parameter “BAcKTIME”
By default, the CNC assumes a value of 0 for this parameter (no additional analog
pulse).
BAKTIME (P30) (BAcKlash peak TIME)
Indicates the duration of the additional analog pulse for backlash (P29).
It is given in milliseconds and it admits integer values between 0 and 65535.
DECINPUT (P31) (DECeleration INPUT)
Indicates whether or not this axis has a home switch for machine reference search.
NO = It doesn’t have a home switch.

YES = it has a home switch.
By default, the CNC assumes that it has a home switch (YES).
REFPULSE (P32) (REFerence PULSE)
Indicates the type of flank of the marker pulse Io used for searching home.
+ = Up flank (change from 0V to 5V).

- = Down flank (change from 5V to 0V).
The CNC assumes “+” for this parameter.

REFDIREC (P33) (REFerencing DIRECtion)
Indicates the direction of the home search in this axis.
+ = Positive direction.
- = Negative direction.
By default, the CNC assumes “+” (positive direction).
REFEED1 (P34) (REferencing FEEDrate 1)

Indicates the axis feedrate when searching home until it hits the home switch.
Possible values: 0.0001 thru 199999.9999 mm/min or degrees/min.
0.00001 thru 7874.01574 inch/min.
By default, the CNC assumes a feedrate of 1000mm/min (about 40 inch/min)

Indicates the axis feedrate when searching home after hitting the home switch until it
finds the marker pulse Io).
0.00001 thru 3937.00787 inch/min.
By default, the CNC assumes a feedrate of 100mm/min. (about 4 inch/min)
REFVALUE (P36) (REFerence VALUE)

Indicates the position value of the machine reference point (physical location of the
marker pulse) with respect to machine reference zero.
±3937.00787 inches.
The machine reference point is set by the manufacturer to synchronize the coordinate
system. The machine positions the axis at this point instead of moving it to the machine
reference zero point.
When the machine uses semi-absolute scales (with coded marker pulses), the axis may
be homed anywhere within its travel. Thus, this parameter must only be set when
applying leadscrew error compensation. The amount of leadscrew error to be assigned
to this machine reference point is "0".
MAXVOLT (P37) (MAXimum VOLTage)

Indicates the maximum analog voltage corresponding to the maximum feedrate of the
axis (axis machine parameter “G00FEED”).
It is given in millivolts and it admits integer values between 0 and 9999.
By default, the CNC assumes a value of 9500 (9.5 V).
G00FEED (P38) (G00 FEEDrate)
Indicates the maximum feedrate G00 (rapid traverse) of this axis.

0.00001 thru 7874.01574 inch/min.
By default, the CNC assumes a value of 10000 mm/min.(about 400 inch/min).
UNIDIR (P39) (UNIdirectional positioning DIRection)
Indicates the direction of the unidirectional approach in G00 moves.
By default, the CNC assumes a positive direction “+”.
OVERRUN (P40)
Indicates the distance to be kept between the unidirectional approach point and the one
programmed. If it is a Lathe model, this distance must be in radius.
Possible values: 0.0001 thru 99999.9999 millimeters or degrees.

0.00001 thru 3937.00787 inches.
By default, the CNC assumes a value of 0 for this parameter. Unidirectional approach
not wanted.
UNIFEED (P41) (UNIdirectional positioning FEEDrate)
Indicates the feedrate of the unidirectional approach from the approach point to the
programmed point.
Possible values: 0.0001 thru 99999.9999 mm/min.or degrees/min.

0.00001 thru 3937.00787 inch/min.
MAXFEED (P42) (MAXimum FEEDrate)
Indicates the maximum programmable feedrate (F0).
Possible values: 0.0001 thru 199999.9999 mm/min. or degrees/min

0.00001 thru 7874.01574 inch/min.
By default, the CNC assumes a value of 5000 mm/min. (about 200 inch/min).

JOGFEED (P43) (JOGging FEEDrate)
Indicates the feedrate assumed in the JOG mode if no feedrate is active.
Possible values: 0.0001 thru 199999.9999 mm/min. or degrees/min.

0.00001 thru 7874.01574 inch/min.
By default, the CNC assumes a value of 1000mm/min (about 40 inch/min).
PRBFEED (P44) (PRoBing FEEDrate)
Indicates the probing feedrate when calibrating a tool in "JOG" mode.
Possible values: Between 0.0001 and 99999.999 mm/min.

Between 0.00001 and 3937.00787 inch/min.
The default value for this parameter is 100mm/min. (about 4 inch/min).
MAXCOUPE (P45) (MAXimum COUPling Error)
Indicates the maximum difference allowed between the following errors of the axes
electronically coupled (by program, PLC or as GANTRY axes).
This value is only assigned to the slave axis.
Possible values: 0.0001 thru 99999.9999 millimeters.

0.00001 thru 3937.00787 inches.
By default, the CNC assigns a value of 1 mm to this parameter.

ACFGAIN (P46) (AC-Forward GAIN)
Indicates whether or not the value assigned to machine parameter "DERGAIN"

(P24) is applied onto the variations of the programmed feedrate (AC-forward).
NO = It is applied onto the variations of the following error (derivative gain).
FFGAIN
Following
+ Error +
Programmed + Analog
Feedrate PROGAIN output
- +
DERGAIN
Feedback
YES = It is applied onto the variations of the programmed feedrate caused by the
acc./dec. (AC-forward).
FFGAIN
+
+ Analog
DERGAIN output
+
Programmed
+ Following
Feedrate PROGAIN
Error
-
Feedback
By default, the CNC sets this parameter to NO.
When set to "YES", it can assist in adjusting DERGAIN for high % FFGAIN
applications.

REFSHIFT (P47) (REFerence point SHIFT)
This parameter is used when once the machine has been all set up, it is necessary to
reinstall the feedback system and the new machine reference point (home) no longer
coincides physically with the previous one.
It indicates the difference (shift) between those two reference points (previous and
current)

±3937.00787 inches
By default, the CNC sets this parameter to "0".
If this parameter is set to a value other than "0"; when searching home, the CNC will
move the axis the distance indicated by this parameter once the marker pulse has been
detected in order to position the axis exactly at the previous physical machine
reference point.
This additional movement is carried out at the feedrate indicated by machine parameter
for the axes: "REFEED2".
STOPTIME (P48) (STOP TIME)

STOPMOVE (P49) (STOP MOVEment)
These parameters are used in conjunction with parameter "STOPAOUT (P50)"

when function G52 (move to hardstop) is active.
The CNC considers that the hardstop has been run into when a certain time period
elapses without the axis moving. This time period is indicated, in thousands of a
second, by parameter "STOPTIME (P48)".
The CNC considers the axis to be stopped when its movements do not exceed the
value set by "STOPMOVE (P49)" during the time period set by "STOPTIME
(P48)".
Possible values: 0.0001 thru 99999.9999 mm

0.00001 thru 3937.00787 inches.
The default value for these parameters is "0".

STOPAOUT (P50) (STOP Analog OUTput)
This parameter is used with function G52 (move to hardstop) and it indicates the residual
analog voltage supplied by the CNC to exert pressure once contact has been detected.
It is expressed in D/A converter units and it admits integers between 0 and 32767 in
such a way that a value of 32767 corresponds to 10V.
STOPAOUT Additional analog voltage
1 0.3mV
... ...
3277 1V
... ...
32767 10V
The CNC's default value for this parameter is "0".
Note: This parameter is especially designed for hydraulic devices.

When using servo motors, first reduce the maximum torque of the drive by
means of an "M" function in order to prevent the motor from overheating.
INPOSW2 (P51) (IN POSition Width 2)
This parameter is used when function G50 (controlled round corner) is active.
It defines the area before the programmed coordinate where the CNC considers the
axis to be in position thus going on to execute the next block.
Possible values: Between 0 and 99999.9999 millimeters or degrees.

Between 0 and 3937.00787 inches.
By default, the CNC sets this parameter to a value of "0.01mm" and it is recommended
to set it to a value 10 times the "INPOSW" value.
I0TYPE(P52) (I0 TYPE)
It indicates the type of Io signal (marker pulse) provided by the feedback device.
0 = Normal Io
1 = A type of coded Io
2 = B type of coded Io

ABSOFF (P53) (ABSolute OFFset)
The CNC takes this parameter into consideration when parameter "I0TYPE" (P52)
is set with a value other than "0".
Thes scales having a coded Io (semi-absolute reference mark) indicate the machine
position with respect to the "zero" of the scale.
In order for the CNC to show the position of the axes with respect to the machine
reference zero (home), this parameter must be assigned the position value (coordinate)
of the machine reference zero (point "M") with respect to the "zero" of the scale "point
"C").
Possible values: Between 0 and 99999.9999 millimeters.

Between 0 and 3937.00787 inches
The default value for this parameter is "0".
MINMOVE (P54) (MINinum MOVEment)

This parameter has to do with the axis logic outputs "ANT1" thru "ANT6".
If the axis move is smaller than the value indicated by this machine parameter
"MINMOVE", the corresponding axis logic output "ANT1 thru "ANT6" goes high.
Possible values: Between 0 and 99999.9999 millimeters or degrees.
Between 0 and 3937.00787 inches
ROLLOVER (P55)
This machine parameter is taken into account when the axis has been set as rotary,
"AXISTPYE (P0) = 2 or 3". It indicates whether the rotary axis is also rollover or not.
Possible values: YES / NO
The default value for this parameter is "YES".
SERCOSID (P56)
Indicates the sercos address (device select code) associated with the axis.
Possible values: 0 Analog axis
1-8 Sercos address (device select code)
These addresses for the various axes and spindles must be sequential and starting from
"1". That is, with 3 sercos axes and one sercos spindle, the values for this parameter must
be 1, 2, 3, 4.

EXTMULT (P57) (EXTernal MULTiplier)
This parameter is to be used when utilizing a semi-absolute feedback system (with

coded Io).
It indicates the relationship between the mechanical pitch or that of the glass
graduation with the electrical pitch or the period of the feedback signal supplied to the
CNC.
Glass graduation pitch (mechanical pitch)

EXTMULT = --------------------------------------------------------
feedback signal period (electrical pitch)
For instance, the FAGOR "FOT" linear scale has a glass graduation pitch of 100 µm
while its output signals have an electrical pitch of 20 µm.
100
EXTMULT = ------ =5
20
Values to be allocated for semi-absolute Fagor scales (with coded Io):
COS, COVS, MOVS, FOS .............. EXTMULT = 1

COC, COVC, MOVC, FOC .............. EXTMULT = 1
COX, COVX, MOVX, FOT .............. EXTMULT = 5
SMOTIME (P58) (SMOoth TIME)
Sometimes the axis does not respond as desired on particular movements. When using
the handwheel, tracing parts or when the CNC internally transforms the programmed
coordinates (C axis, RTCP, etc.).
In these cases, the response of the axis may be smoothed by applying a filter to the speed
changes.
This filter is defined by means of parameter SMOTIME which indicates the duration
of the filter in milliseconds which in turn is set by general machine parameter
LOOPTIME (P72).
Possible values: Integers between 0 and 64 times the value assigned to general
machine parameter LOOPTIME(P72)
If LOOPTIME=0 (4ms) the maximum value for SMOTIME will
be 64 x 4 = 256 ms.
Example: If LOOPTIME = 0 (4 ms) and SMOTIME = 10, the duration of the filter is:
10 x 4 = 40 ms.
In order to obtain a better response, the SMOTIME parameter of all axes interpolating
together should be set to the same value.

ACCTIME2 (P59) (ACCeleration TIME 2)
With this CNC, it is possible to use two different sets of gains and accelerations for the
axes and the spindle.
Parameters "ACCTIME2 (P59), PROGAIN2 (P60), DERGAIN2 (P61) and FFGAIN2

(P62)" set a second range of gains and accelerations.
To select the second range of gains and accelerations, general machine parameter
ACTGAIN(P108) must be set properly or general CNC logic input ACTGAIN2(5013)
must be activated.
This parameter indicates the time it takes the axis to reach the maximum feedrate
selected by axis machine parameter "G00FEED" (acceleration stage). The deceleration
time will be the same.
The default value is "0" (no acceleration/deceleration control).
PROGAIN2 (P60) (PROportional GAIN 2)

must be activated.
This parameter indicates the value of the Proportional Gain. It is given in
millivolts/mm and it admits integer values between 0 and 65535.
Its value represents the analog voltage corresponding to a following error of 1mm
(0.040 inches).
By default, the CNC assumes a value of 1000 mV/mm.
Example 1 in metric:
Machine parameter “G00FEED” = 20000 mm/min and the feedrate for the desired
following error of 1mm (0.040") is 1000mm/min.
The analog voltage for 20000 mm/min is 9.5 V.
Analog corresponding to F = 1000 mm/min:
9.5 V.
Analog Voltage = -------------------- x 1000 mm/min. = 475 mV.
20000 mm/min.
Therefore, “PROGAIN2” = 475
This formula also works for feedrates in inches.

DERGAIN2 (P61) (DERivative GAIN 2)

must be activated.
This parameter indicates the value of the Derivative Gain. It is given in mV/10msec. and
it admits values between 0 and 65535.
following error of 1mm (0.03937 inches) in 10 milliseconds.
ε · DERGAIN2
Analog (mV) = ε · PROGAIN2 + -------------------
10 t
It is a good idea to also use the acc./dec. machine parameter “ACCTIME2” for this axis
FFGAIN2 (P62) (Feed-Forward GAIN 2)

must be activated.
This parameter indicates the % of the analog voltage due to the programmed feedrate.
The rest will depend upon the following error. Both the Proportional and Derivative
gains will be applied onto this following error.
ε · DERGAIN2 FFGAIN2 progr. F

Analog = ε · PROGAIN2 +-------------------- + -------------- ------------ MAXVOLT
10 t 100 G00FEED
Programmed
Analog output
Feedrate
Feedback
Description continues on next page

applied).
SERCOSLE (P63) (SERCOS LEvel)
The CNC takes this parameter into account when the axis has been assigned a Sercos
address, axis-parameter SERCOSID (P56) other than "0".
It indicates the type of Sercos communication to be used for this axis.
Possible values: 0 and 1. The default value is "0".
In either case, the data transfer between the CNC and the drive is done via Sercos.
However, the difference between them is the following:
SERCOSLE =0 The position loop is controled at the CNC.

The axis feedback is input into the CNC through a connector.
The velocity command is sent to the drive via Sercos.
SERCOSLE =1 The position loop is controled at the CNC.

The axis feedback is sent to the CNC via Sercos.
The velocity command is sent to the drive via Sercos.
POSINREF (P64) (POSition IN REFvalue)
Usually when working with sercos feedback, the motor-drive system has an absolute
encoder.
Thanks to this, the system knows at all times, the relative position of the axis within a
revolution of the motor.
In these cases, when referencing the axis (homing), the CNC knows the position of the
axis as soon as the home switch is pressed. Thus, not being necessary to move to the
machine reference point (or marker pulse).
Parameter POSINREF indicates whether the axis has to move to a marker pulse or not
after hitting the home switch.
POSINREF = NO The axis does not move to the marker pulse

POSINREF = YES The axis does move to the marker pulse
The default value of this parameter is YES.

SWITCHAX (P65) (SWITched AXis)
When having 2 axes controlled by a single servo drive, machine parameter SWITCHAX
of the secondary axis indicates which one is the main axis it is associated with.
0= None. 1= Associated with the X axis.

2= Associated with the Y axis. 3= Associated with the Z axis.
4= Associated with the U axis. 5= Associated with the V axis.
6= Associated with the W axis. 7= Associated with the A axis.
8= Associated with the B axis. 9= Associated with the C axis.
For further information, refer to chapter 4, section on "Axes controlled by a single servo
drive".
Example.
On a machine where the X and Z axes cannot move at the same time, the X axis is
the main axis and the Z axis is the secondary.
SWITCHAX for the X axis = 0

SWITCHAX for the Z axis = 1
(associated to the X axis)
SWINBACK (P66) (SWitched INput feedBACK)

When having 2 axes controlled by a single servo drive, machine parameter SWINBACK
of the secondary axis indicates whether it has its own feedback device or it uses that of
the main axis it is associated with.
1 = It has its own feedback device (external)

0 = It uses that of the main axis.
The default value of this parameter is "0".
For further information, refer to chapter 4, section on "Axes controlled by a single servo
drive".
The following examples show several possibilities.
In all of them, the toggling of the analog voltage must be done from the PLC using the
SWTCH2 mark. See chapter 4.

a) Each axis has its own feedback device.
X axis (main) Z axis (secondary)

SWINBACK for X = 0 SWINBACK for = 1
b) The two axes share the same feedback device. It must be connected to the feedback
connector of the main axis.

SWINBACK for X = 0 SWINBACK for Z = 0
c) The communication with the drive is done through Sercos, feedback included.

SWINBACK for X = 0 SWINBACK for Z = 1
The CNC internally switches the feedback it receives via Sercos and it supplies it to
either axis depending on the status of the SWITCH2 mark.

3.3.3 SPINDLE MACHINE PARAMETERS
This CNC can control the main spindle, a second spindle and an auxiliary spindle
They all have their own setup parameters. The main and secondary spindle have identical
parameter tables.
In order to synchronize the main and secondary spindles, they both must have a feedback
device, their machine parameter M19TYPE must be set to "1" and their parameters defining
the third range of gains and accelerations must be set for a similar behavior of both spindles.
The G77 function synchronizes the spindles in speed, so the secondary spindle turns at the
same speed as the main spindle.
The G30 function synchronizes the spindles in position and it sets an angular offset between
them so the secondary spindle follows the main spindle maintaining that offset.

MACHINE PARAMETERS FOR THE SPINDLES 63
3.3.3.1 MACHINE PARAMETERS FOR MAIN AND 2ND SPINDLES
SPDLTYPE (P0) (SPinDLe TYPE)
Indicates the type of spindle output being used.
0 = ±10V DC.
1 = 2-digit BCD code.
2 = 8-digit BCD code.
By default, the CNC assumes ±10V D.C. (value 0).
DFORMAT (P1) (Display FORMAT)
Indicates the display format for the spindle.
0 = In 4 digits.
1 = In 5 digits.
2 = In format 4.3.
3 = In format 5.3.
4 = Not displayed.
By default, the CNC will assume a value of 0 for this parameter.
It is not used for the second spindle.
MAXGEAR1 (P2) (MAXimum speed of GEAR 1)
Indicates the maximum spindle speed assigned to the 1st range (M41).
It is given in revolutions per minutes (r.p.m.) between 0 and 65535.
By default, the CNC assumes a value of 1000 r.p.m. for this parameter.
Indicates the maximum spindle speed assigned to the 2nd range (M42).
Indicates the maximum spindle speed assigned to the 3rd range (M43).

64 MACHINE PARAMETERS FOR THE SPINDLES
Indicates the maximum spindle speed assigned to the 4th range (M44).
The value assigned to “MAXGEAR1” must be the lowest speed range and the one
assigned to “MAXGEAR4” that of the highest speed range. When not all four ranges
are required, use the lower ones starting from “MAXGEAR1” and assign the highest
one to the unused ranges.
AUTOGEAR (P6) (AUTOmatic GEAR change)
Indicates whether the change of range is generated automatically or not by the CNC
activating the M functions M41, M42, M43 and M44.
NO = It is NOT done automatically.

YES = It is done automatically.
By default, the CNC assumes NO for this parameter.
POLARM3 (P7) (POLARity for M3)

POLARM4 (P8) (POLARity for M4)
Indicates the sign of the spindle analog for M03 and M04.
+ = Positive analog.
- = Negative analog.
If the same value is assigned to both parameters, the CNC will output a single polarity
(0V to 10V) signal with the indicated sign.
By default, the CNC assigns “+” to “POLARM3” and “-” to “POLARM4”.
SREVM05 (P9) (Spindle REVerse needs M05)
This parameter is used with a Mill model CNC.
Indicates whether it is necessary or not to stop the spindle (M05) when reversing
rotation direction during a tapping canned cycle (G84).
NO = M5 is NOT necessary.
YES = M5 is necessary.
By default, the CNC assumes YES.

MINSOVR (P10) (MINimum Spindle OVeRride)
MAXSOVR (P11) (MAXimum Spindle OVeRride)
Indicate the minimum and maximum % applicable to the programmed spindle speed.
By default, the CNC assigns a value of 50% to “MINSOVER” and 120% to

“MAXSOVR”.
The resulting speed will be limited by the value indicated in the spindle machine
parameter: “MAXVOLT1”, “MAXVOLT2”, “MAXVOLT3”,” MAXVOLT4"
corresponding to the selected range.
SOVRSTEP (P12) (Spindle OVeRride STEP)
Indicates the incremental step of the spindle speed every time the override keys at the
operator panel are pressed.
NPULSES (P13) (Number of PULSES)
Indicates the number of pulses per revolution provided by the spindle encoder. 0
means that there is no spindle encoder.
DIFFBACK (P14) (DIFferential FeedBACK)
Indicates whether the spindle encoder uses differential signals (double ended) or not.
NO = They are NOT differential signals.

YES = They are differential signals.
FBACKAL (P15) (FeedBACK ALarm)
Indicates whether the feedback alarm is OFF or ON.
OFF = Alarm off.

ON = Alarm on.
By default, the alarm is ON.

AXISCHG (P16) (AXIS CHanGe)
Indicate the counting direction of spindle encoder. If correct, leave it as is; if not,
change it from YES to NO or viceversa.
If this parameter is changed, parameter “LOOPCHG” (P26) must also be changed so
the spindle does not “run away”.
DWELL (P17)
Indicates the dwell from the moment the “ENABLE” signal is activated until the
analog voltage is sent out.
It is given in milliseconds and it admits integer values between 0 and 65535.
By default, the CNC assumes a value of 0 (no dwell).
ACCTIME (P18) (ACCeleration TIME)
This parameter is used when working with the spindle in closed loop and it indicates
the acceleration time given to reach the maximum speed (MAXVOLT1 thru
MAXVOLT4) in each range. This value also represents the deceleration time.
Possible integer values between 0 and 65535 milliseconds.
The default value for this parameter is 0 (no acceleration or deceleration).
INPOSW (P19) (IN POSition Width)
Indicates the width of the IN POSITION zone where the CNC considers the spindle
to be in position when working in closed loop (M19).
Possible values: 0 thru 99999.99999 degrees.
By default, the CNC assumes a value of 0.01 degrees.

INPOTIME (P20) (IN POsition TIME)
Indicates the time period that the spindle must remain in the “IN POSITION” zone in
order to consider it to be in position.
This prevents the CNC from considering the spindle to be in position and executing
the next block on those machines where the spindle could just overshoot the “IN
POSITION” zone.
Indicates the maximum following error allowed for the spindle when moving in closed
loop (M19).
By default, the CNC assumes a value of 30 degrees.
Indicates the maximum following error allowed for the spindle when stopped in closed
loop (M19).
By default, the CNC assumes a value of 0.1 degrees.
PROGAIN (P23) (PROportional GAIN)
The CNC takes this parameter into account when operating in closed loop (M19).
It sets the value of the Proportional Gain. Its value represents the analog voltage
corresponding to a following error of 1 degree.
It is given in millivolts per degree and it admits integer values between 0 and 65535.
This value is taken for the 1st range of spindle speeds and the CNC calculates the rest
of the values for the other ranges.
By default, the CNC assumes a value of 1000mv/degree.
Example:
Spindle machine parameter “MAXGEAR1” = 500 rev/min. The desired speed

for a 1 degree of following error is S = 1000°/min (2.778 rev/rpm).
Analog voltage for spindle drive: 9.5 V. for 500 rpm.

Analog voltage corresponding to S = 1000°/min (2.778 rpm):
9.5 V.
Analog = ---------------- x 2.778 rev/min. = 52,782 mV.
500 rev/min.
DERGAIN (P24) (DERivative GAIN)

Indicates the value of the Derivative Gain. It is given in mV/10msec. and it admits
values between 0 and 65535.
following error of 1 degree in 10 milliseconds.
ε · DERGAIN
Analog (mV) = ε · PROGAIN + ----------------
10 t
It is a good idea to also use the acc./dec. machine parameter “ACCTIME” for this axis
FFGAIN (P25) (Feed-Forward GAIN)

Indicates the % of the analog voltage due to the programmed speed. The rest will
depend upon the following error. Both the Proportional and Derivative gains will be
applied onto this following error.
The Feed-Forward Gain lets improve the positioning loop minimizing the following
error and it should be used when the “ACCTIME” machine parameter for this axis is
active (acc/dec. being applied).
ε · DERGAIN
ε · PROGAIN +------------------
FFGAIN progr. F
Analog = + ----------- ---------- MAXVOLT
10 t 100 G00FEED
Programmed
Analog output
Feedrate
Feedback

applied).
LOOPCHG (P26) (LOOP CHanGe)
Indicates the sign of the analog output. If correct, leave it as is; if not, change it from
YES to NO or viceversa.
MINANOUT (P27) (MINimum ANalog OUTput)
Indicates the minimum value for the spindle analog output.
which corresponds to an analog voltage of 10V.
MINANOUT Minimum Analog
1 0.3 mV.
... .....
3277 1 V.
... .....
32767 10 V.
SERVOFF (P28) (SERVo OFFset)
Indicates the analog offset value for the spindle drive.
It is given in D/A converter units and it admits integer values between 0 and +32767
which corresponds to an analog voltage of +10V.
SERVOFF Offset
-32767 -10 V.
... .....
-3277 -1 V.
... .....
1 0.3 mV.
... .....
3277 1 V.
... .....
32767 10 V.
By default, the CNC assumes a value of 0 (no offset being applied).

LOSPDLIM (P29) (LOwer SPinDle LIMit)
UPSPDLIM (P30) (UPper SPinDle LIMit)
Indicate the upper and lower limits of the actual spindle speed so the CNC can “notify”
the PLC (by means of the “REVOK” signal) that the actual spindle rpms are the same
as the programmed ones.
It is given in % and it admits integer values between 0 and 255.
By default, the CNC assigns a value of 50 to “LOSPDLIM” and a value of 150 to

“UPSPDLIM”.
DECINPUT (P31) (DECeleration INPUT)
Indicates whether or not the spindle has a home switch to synchronize the spindle
when working in M19.
NO = It has NO home switch.

YES = It has a home switch.
REFPULSE (P32) (REFerence PULSE)
Indicates the type of marker pulse Io to synchronize the spindle when working in M19.
+ = Positive pulse (5V).

- = Negative pulse (0V).
By default, the CNC assumes “+”.
REFDIREC (P33) (REFerencing DIRECtion)
Indicates the rotating direction when synchronizing the spindle during M19.
By default, the CNC assumes “+”.
Indicates the spindle’s positioning speed when in M19 and the synchronizing speed
until it finds the home switch.
Possible values: 0.00001 thru 199999.99999 degrees/min.
By default, the CNC assumes a value of 9000 degrees/min.

Indicates the synchronizing speed of the spindle after hitting the home switch and until
it finds the marker pulse.
Possible values: 0.00001 thru 99999.99999 degrees/min.
By default, the CNC assumes a value of 360 degrees/min.
REFVALUE (P36) (REFerence VALUE)
Indicates the position value assigned to the reference point of the spindle (home or
marker pulse).
Possible values: ±99999.99999 degrees.
By default, the CNC assumes a value of 0.
MAXVOLT1 (P37) (MAXimum VOLTage gear 1)
Indicates the analog voltage corresponding to the maximum speed of range 1.
It is given in millivolts and it admits any integer between 0 and 9999.
The default setting of this parameter is 9500 (9.5V).

GAIN UNIT (P41)
It indicates the units of the “PROGAIN” (P23) and “DERGAIN” (P24) parameters
for the spindle.
0 = millivolts/degree
1 = millivolts/0.01 degree
This parameter is used when working with the spindle in closed loop.
A value of “1” will be assigned when the analog voltage corresponding to a following
error of 1 degree is very small. Therefore, the adjustment of machine parameters
“PROGAIN” and “DERGAIN” will be more critical (sensitive).
The default value for this parameter is 0 (mV/degree).
ACFGAIN (P42) (AC-Forward GAIN)
Indicates whether the "DERGAIN (P24)" value is to be applied onto the variations
of following error(derivative gain) or onto the variations of programmed speed (AC-
forward).
NO = It is applied onto the variations of following error (derivative gain).
FFGAIN
+ Analog output
+ +
Programmed PROGAIN
Feedrate
- +
DERGAIN
Feedback
YES = It is applied onto the variations of programmed feedrate due to ACC/

DEC (AC-forward).
FFGAIN
+
Analog output
+
DERGAIN
+
Programmed +
PROGAIN
Feedrate
-
Feedback
The default value of this parameter is "NO".

M19TYPE (P43)
This parameter sets the type of spindle orient (M19) available.
It indicates whether the spindle must be homed when switching from open to closed
loop or it is enough to home it once on power-up.
0 = The spindle must be homed every time when switching from open to closed loop.
1 = It is enough to home the spindle once on power-up.
SERCOSID (P44) (SERCOS IDentifier)

Indicates the sercos address (device select code) associated with the spindle.
Possible values: 0 Analog spindle
1-8 Sercos address (device select code)
These addresses for the various axes and spindles must be sequential and starting from
"1". That is, with 3 sercos axes and one sercos spindle, the values for this parameter must
be 1, 2, 3, 4.
OPLACETI (P45) (OPen Loop ACETIme)
This parameter "tells" the CNC whether the spindle velocity command variations are
sudden or in ramp when working in open loop (M3, M4)
Parameter OPLACETI indicates the duration of the ramp in milliseconds for the
maximum "S".
Possible values: Integer between 0 and 65535.

SMOTIME (P46) (SMOoth TIME)
Sometimes the spindle does not respond as desired on particular movements. When
using the handwheel, tracing parts or when the CNC internally transforms the
programmed coordinates (C axis, RTCP, etc.).
In these cases, the response of the spindle may be smoothed by applying a filter to the
speed changes.
This filter is defined by means of parameter SMOTIME which indicates the duration
of the filter in milliseconds which in turn is set by general machine parameter
LOOPTIME (P72).
Possible values: Integers between 0 and 64 times the value assigned to general
machine parameter LOOPTIME(P72)
If LOOPTIME=0 (4ms) the maximum value for SMOTIME will
be 64 x 4 = 256 ms.
In order to obtain a better response, the SMOTIME parameter of all axes interpolating
together should be set to the same value.
The spindle's response can also be smoothened when working in open loop (M3, M4).
In this case, parameters OPLACETI (P45) and SOMTIME (P46) must be used.


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CUSTOMTY (P92) (CUSTOM TYpe)

On MC and TC models, it indicates the configuration being used.

Indicates the spindle type: 0 = Standard spindle 1 = Reserved

XFORM=2 XFORM=2 XFORM=3

Sets the spindle axes and their order.

The rotary axes are called A, B or C depending on whether the

When having a dual swivel spindle "XFORM=2", parameter

XFORM1=0 B is the main axis and A is the secondary one.

Possible Not possible

Page Chapter: 3 Section:

Parameter "XFORM1" indicates which is the main rotary axis

XFORM1=0 A is the main axis and C is the secondary axis

Defines the rotating direction of the rotary axes.

0 = The one according to the "DIN 66217" standard (see figure)

These parameters are used to define the dimensions of the spindle.

Chapter: 3 Section: Page

Page Chapter: 3 Section:

XDATA0 (P96) Angle in degrees between both rotary axes.

Chapter: 3 Section: Page

Parameter PRODEL indicates, in milliseconds, the delay mentioned earlier.

Possible values: Integers between 0 and 255.

The default value is "0".

TPOS Actual position of the probe when its signal is received.

MAINOFFS (P107) (MAINtain OFFSet)

0 = It does not maintain it. It always assumes offset D0.

The default value is "0" (it does not maintain it).

Page Chapter: 3 Section:

bit = 0 Applies the first range "ACCTIME, PROGAIN ..."

G2 X10 Y10 I10 J0 Range 1 G05 G2 X10 Y10 I10 J0 Range 1

Chapter: 3 Section: Page

Nevertheless, in order to keep compatibility with previous versions, this parameter

The default value is "1" (new algorithm).

DIPLCOF (P110) (DIsplayPLCOFset)

The default value is "0".

HANDWIN (P111) (HANDWheel INput)

Page Chapter: 3 Section:

The meaning of these inputs is the following:

STOPTAP (P116) (STOP TAPping cycle)

INSFEED (P117) (tool INSpection FEED)

Sets the tool inspection feedrate.

Chapter: 3 Section: Page

Not being used at this time.

PROBERR (P119) (PROBing ERRor)

YES = It issues the error message.

By default, the CNC sets this parameter to "NO".

Note: With digitizing cycles DIGIT1 or DIGIT2, set "P119=NO"

SERSPEED (120) (SERcos SPEED)

Sets the Sercos communications speed (baudrate).

Possible values: 0 4 Mbit/s

By default, the CNC sets this parameter to "0" (recommended value)

SERPOWSE (P121) (SERcos optical POWer SElection)

Possible values: From 1 to 6.

The default value of this parameter is "4" (recommended value)

Page Chapter: 3 Section:

Sets the operating language

Possible values: 0 English 3 Italian 6 Portuguese

The default value of this parameter is "0" (English)

GEOMTYPE (P123) (GEOMetry TYPE)

0 = It is associated with the tool number (like in previous versions)