FANUC Series 16i/18i/21i-TB/MB

FANUC Series 18i-MB5

Safety Function at opening protection door (Safe Spindle Stop function)

1. Outline
This function achieves safe power off of the spindle axis by the double monitoring
function combining with FANUC Dual Check Safety.

On the present Dual Check Safety, since the safe monitor of a spindle axis was
performed under the "monitor of speed", there was a case where safe speed excess alarm
is generated and a system stopped, when the spindle axis is turned by hand and
rotational speed exceeded the limit.
On the other hand, the new function supervising "power off of a spindle axis" provides
the way to rotate the spindle axis during the door open with no alarm. So it can enhance
the user-friendliness of a machine.

Also, this function can be used with the enabling switch, which enables to drive the
spindle by the safe speed.

Status of
Motor
CNC CPU Driver 1
Status of Safe
SPM Spindle
Protection door I/O
Protection Door Motor

Monitor,
SVM Servo
Control of
Cross
Motor
Ladder Check
PSM
Safe MONITOR
I/O CPU Contact

Driver
Monitor,
Spindle Status of C-Executer
AC reactor
Enabling Switch Enabling Switch
(New Signal)
Cut Off and Magnetic
Check status Contactor

Status of Motor Driver 2 (New signal)

SPM : αi series Spindle Amplifiler Module

SVM : αi series Servo Amplifiler Module
PSM : αi series Power Supply Module

A-53867-1817 rev02(1/9)
2. System configuration

In addition to alpha i series Spindle Amplifier Module corresponding to the function

which outputs the motor power off (EXOF) signal, the following system is required in
order to correspond to this function.

l Spindle Amplifier module which applied : A06B-61xy-Huvw#H5ab#C

xy=11,12,21,22, uvw= free, ab=50,53
l System which is applied Dual Check Safety
(Refer to, Dual Check Safety Operator’s manual B-63494)

l System which is applied Programmable Safe-related I/O signals

(Refer to, FANUC Series 16i/18i/21i–TB/MB FANUC Series 18i-MB5 Dual Check
Safety Programmable Safe-related I/O signals Specifications A-78882)

l System which is applied selectable Safe Speed Monitoring

(FANUC Series 16i/18i/21i–TB/MB FANUC Series 18i-MB5 Dual-check Safety
Improvement of Safe Speed Monitoring and Safe Machine Position Monitoring
Specifications A-78735)

A-53867-1817 rev02(2/9)
3. Safe functions
Only the contents added to standard Dual Check Safety is written in this document.
As for the standard Dual Check Safety contents, refer to the B-63494.

3.1 Scope

[ Safe monitoring function of spindle excitation]

It supervises that the drive of a motor is turned off, without disconnecting the power
supply of the main circuit of Spindle Amplifier Module, i.e., the magnetic contactor of
Power Supply Module. (Safe monitoring of spindle power off)
When abnormalities should be detected during surveillance, the magnetic contactor of
Power Supply Module is disconnected and the power supply of the main circuit is
turned off.

A-53867-1817 rev02(3/9)
3.2 Surveillance of spindle Excitation OFF signal

In order to perform surveillance for two Excitation OFF signals outputted from Spindle
Amplifier Module (EXOF, EXOF2 by contact driver), connect Safe I/O both of them for
the test of signal and make a PMC ladder to operate excitation on/off of the spindle and
detection of abnormal state of control signal.

Total connection of signals

PMC CNC
X,Y G, F
G191#3 ORQ
Door open request ORQ
G191#4 SGD1
Guard state signal SGD
G338#0 SPA1
Spindle drive enable SPEN1
(New signal) SPEN2
F191#0 *LGD

Guard lock signal *LGDM

User F47#4 EXOFA
ladder
G71#1 *ESPA
(timing
chart G334#2 EXOF (New signal)
next G334#0 (SGD1)
page) G334#1 (SPA1)

G331#0 1 st channel error

FSSB I/O

Safe I/O
DI+001#4 SGD2

DI+006#0 SPA1 C-
Executer
DI+002#0 (SGD2)
(timing
DI+002#1 (SPA1) chart
next DO+001#1
SPM contact signal DI+002#2 EXOF2
page) 2nd
EXOF2 (New signal)
channel error

Because the EXOF and EXOF2 should use the Safe I/O, connect to the
corresponded address and the same bit position of each I/O module. (PMC and
FSSB I/O side)

A-53867-1817 rev02(4/9)
a. Detail of PMC User ladder
l Release guard lock(*LGDM) under the condition of open guard request(ORQ) and
stopping of spindle by checking spindle excitation signal (EXOF=1).
l When turning on power, since EXOFA is not valid until transmission between CNC
and Spindle Amplifier connected, mask EXOF to ‘1’ by the timer.
l At the condition of Guard State signal (SGD) is ‘0’ (guard open) and Spindle
enabling switch (SPEN) is ‘0’ (drive disable), check that the spindle excitation
signal (EXOF) is ‘1’ . If the inconsistency is detected while a certain time(*1), invoke
1st or 2nd channel alarm which stops the system immediately

(1) Sequence of PMC at power on

EXOFA

Mask with PMC Ladder

EXOF

Mask to ‘1’ while spindle

amplifier power on by the
timer.

(2) Sequence of PMC

Rotation of Spindle Opening of guard Closing of guard

Spindle drive enable

ORQ

*ESPA, MRDYA
(*2)

EXOF
abnormal

*LGD

*LGDM

SGD1
Actual Guard
status signal

SPEN1
(*1)Mask the alarm by timer
1st channel alarm Surveillance

*1 Although PMC alarm conditions are detected until a spindle stops excitation (EXOF
becomes 1) after spindle-axis rotation enabling switch(SPEN1) is turned off, the alarm
must be masked by the ladder during this period.
*2 In case of EXOF is go to 0, one of SFRA,SRVA,ORCMA should be set to 1.
A-53867-1817 rev02(5/9)
(3) Sequence of FSSB I/O
Rotation of Spindle Opening of guard Closing of guard

Spindle drive enable

EXOF2
abnormal

SGD2

SPEN2
(*1)Mask the alarm by timer
1st channel alarm Surveillance

*1 Although PMC alarm conditions are detected until a spindle stops excitation (EXOF2
becomes 1) after spindle-axis rotation enabling switch(SPEN2) is turned off, the alarm
must be masked by the ladder during this period.

A-53867-1817 rev02(6/9)
4. Connection

Additional to the standard connection of Dual Check Safety, the wiring is required from
SPM connector JX4 to FSSB I/O. When Spindle enabling switch is used, the external
FSSB I/O is necessary so that the wiring is added from switch to I/O unit and FSSB
I/O.

CNC
I/O Unit

DC24V CPD1 Safe Guard

Status signal
I/O-LINK(JD1A) JD1 SGD

JD1

Spindle
Enabling
Switch SPEN

FSSB(COP10A COP10B TB2

SVM
COP10A JF1

FSSB I/O

DC24V CP11A

COP10B
COP10A
CNF1

CNF2

Extended

Spindle
exitation
off state
EXOF2
SPDL(JA41) JA7B JX4
SPM
JA7A JYA2

TB2
To 2nd Spindle

A-53867-1817 rev02(7/9)
4.1 Wiring from SPM JX4 to FSSB I/O

SPM JX4 FSSB I/O

with R415 CB155A

(11) COMEXOF 24V A01,B01

(13) EXOF2 DI Axx

Isolated
Opt-coupler
0V

Half-pitch connector
Hirose electric.
Connector and case
FI40B-20S-CVS5

Contact specification of SPM

Circuit method: Opto-coupler having electrical direction
Rated voltage: DC 30V or less
Rated current: DC40mA or less
Saturated voltage: 1.5V or less (at output current 40mA)

Warning
There is a possibility of damaging the internal circuit of SPM
by 24V supplied from the outside by the incorrect wiring.

A-53867-1817 rev02(8/9)
5. Input/Output signal

Refer to following document to use Safety Programmable Safe-related I/O signals.

FANUC Series 16i/18i/21i–TB/MB FANUC Series 18i-MB5 Dual Check Safety

Programmable Safe-related I/O signals Specifications A-78882

6. Parameter

In addition to the standard parameter of Dual Check Safety, the next setup is required
in order to use this function.

The speed surveillance of a spindle axis is still effective internally during spindle
excitation off state (SGD=0, EXOF=1) (Guard is open, Spindle enabling switch off).
Therefore, under the surveillance of spindle-axis excitation off, it is necessary to change
the safe limited speed not to usually attain, even if it turns spindle axis by hand. Since
the safe speed selection signal SPA1 connected to status of spindle enabling switch,
please set a suitable safe speed as a parameter.

SPA1 SPB1 Parameter

Number
0 0 4372 Limited Spindle Speed 1 (min-1)
1 0 4438 Limited Spindle Speed 2 (min-1)
0 1 4440 Limited Spindle Speed 3 (min-1)
1 1 4442 Limited Spindle Speed 4 (min-1)

For example, if SPB1 is not used, and Spindle enabling switch is connected to SPA1, set
as follows
No.4372 (Limited Spindle Speed 1 ) = 200 min-1 ( In case of enabling switch off)
No.4438 (Limited Spindle Speed 2) = 50 min-1 ( In case of enabling switch on)

Refer to following document for the detail for these parameters.

FANUC Series 16i/18i/21i–TB/MB FANUC Series 18i-MB5 Dual-check Safety
Improvement of Safe Speed Monitoring and Safe Machine Position Monitoring
Specifications A-78735

A-53867-1817 rev02(9/9)