Fanuc Beta Servo Motor
Fanuc Beta Servo Motor
Fanuc Beta Servo Motor
The export of this product is subject to the authorization of the government of the country from where the product is exported.
In this manual we have tried as much as possible to describe all the various matters. However, we cannot describe all the matters which must not be done, or which cannot be done, because there are so many possibilities. Therefore, matters which are not especially described as possible in this manual should be regarded as impossible
GFLE-003
In this manual we have tried as much as possible to describe all the various matters. However, we cannot describe all the matters which must not be done, or which cannot be done, because there are so many possibilities. Therefore, matters which are not especially described as possible in this manual should be regarded as impossible.
Notice
This document is based on information available at the time of its publication. While efforts have been made to be accurate, the information contained herein does not purport to cover all details or variations in hardware or software, nor to provide every contingency in connection with installation, operation, or maintenance. Features may be described herein which are not present in all hardware and software systems. GE Fanuc Automation assumes no obligation of notice to holders of this document with respect to changes subsequently made. GE Fanuc Automation makes no representation or warranty, expressed, implied, or statutory with respect to, and assumes no responsibility for accuracy, completeness, sufficiency, or usefulness of the information contained herein. No warranties of merchantability or fitness for purpose shall apply. The following are Registered Trademarks of GE Fanuc Automation CIMPLICITY Genius
The following are Trademarks of GE Fanuc Automation Alarm Master CIMSTAR Field Control Genet Helpmate LogicMaster Modelmaster PowerMotion ProLoop PROMACRO Series Five Series 90 Series One Series Six Series Three VuMaster Workmaster
Copyright 1998 FANUC Ltd. Authorized Reproduction GE Fanuc Automation Europe S.A.
All Rights Reserved No part of this manual may be reproduced in any form. All specifications and designs are subject to change without notice.
SAFETY PRECAUTIONS
This Safety Precautions section describes the precautions which must be observed to ensure safety when using FANUC servo motors (including spindle motors) and servo amplifiers (including spindle amplifiers). Users of any servo motor or amplifier model are requested to read the Safety Precautions carefully before using the servo motor or amplifier. The users are also requested to read an applicable specification manual carefully and understand each function of the motor or amplifier for correct use. The users are basically forbidden to do any behavior or action not mentioned in the Safety Precautions. They are invited to ask FANUC previously about what behavior or action is prohibited. SAFETY PRECAUTIONS
Contents
DEFINITION OF WARNING, CAUTION, AND NOTE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
I.
SAFETY PRECAUTIONS
B65235EN/02
This manual includes safety precautions for protecting the user and preventing damage to the machine. Precautions are classified into Warning and Caution according to their bearing on safety. Also, supplementary information is described as a Note. Read the Warning, Caution, and Note thoroughly before attempting to use the machine.
WARNING
Applied when there is a danger of the user being injured or when there is a danger of both the user being injured and the equipment being damaged if the approved procedure is not observed.
CAUTION
Applied when there is a danger of the equipment being damaged, if the approved procedure is not observed.
NOTE
The Note is used to indicate supplementary information other than Warning and Caution.
B65235EN/02
WARNING
WARNING
F Before starting to connect a motor to electric wires, make sure they are isolated from an electric power source.
A failure to observe this caution is vary dangerous because you may get electric shocks.
F Do not ground a motor power wire terminal or shortcircuit it to another power wire terminal.
A failure to observe this caution may cause electric shocks or a burned wiring. : Some motors require a special connection such as a winding changeover. Refer to their respective motor specification manuals for details.
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WARNING
F Connect power wires securely so that they will not get loose.
A failure to observe this caution may cause a wire to be disconnected, resulting in a ground fault, short circuit, or electric shock.
F Do not supply the power to the motor while any terminal is exposed.
A failure to observe this caution is very dangerous because you may get electric shocks if your body or any conductive stuff touches an exposed terminal.
F Do not touch any terminal of a motor for a while (at least 5 minutes) after the power to the motor is shut off.
High voltage remains across power line terminals of a motor for a while after the power to the motor is shut off. So, do not touch any terminal or connect it to any other equipment. Otherwise, you may get electric shocks or the motor and/or equipment may get damaged.
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CAUTION
CAUTION
F FANUC motors are designed for use with machines. Do not use them for any other purpose.
If a FANUC motor is used for an unintended purpose, it may cause an unexpected symptom or trouble. If you want to use a motor for an unintended purpose, previously consult with FANUC.
F Ensure that motors are cooled if they are those that require forcible cooling.
If a motor that requires forcible cooling is not cooled normally, it may cause a failure or trouble. For a fancooled motor, ensure that it is not clogged or blocked with dust and dirt. For a liquidcooled motor, ensure that the amount of the liquid is appropriate and that the liquid piping is not clogged. For both types, perform regular cleaning and inspection.
F When attaching a component having inertia, such as a pulley, to a motor, ensure that any imbalance between the motor and component is minimized.
If there is a large imbalance, the motor may vibrates abnormally, resulting in the motor being broken.
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NOTE
NOTE
F Do not step or sit on a motor.
If you step or sit on a motor, it may get deformed or broken. Do not put a motor on another unless they are in packages.
F When storing a motor, put it in a dry (noncondensing) place at room temperature (0 to 40 C).
If a motor is stored in a humid or hot place, its components may get damaged or deteriorated. In addition, keep a motor in such a position that its shaft is held horizontal and its terminal box is at the top.
F When testing the winding or insulation resistance of a motor, satisfy the conditions stipulated in IEC34.
Testing a motor under a condition severer than those specified in IEC34 may damage the motor.
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NOTE
F Use a motor under an appropriate environmental condition.
Using a motor in an adverse environment may cause a failure or trouble in it. Refer to their respective specification manuals for details of the operating and environmental conditions for motors.
F For a motor with a terminal box, make a conduit hole for the terminal box in a specified position.
When making a conduit hole, be careful not to break or damage unspecified portions. Refer to an applicable specification manual.
F Before using a motor, measure its winding and insulation resistances, and make sure they are normal.
Especially for a motor that has been stored for a prolonged period of time, conduct these checks. A motor may deteriorate depending on the condition under which it is stored or the time during which it is stored. For the winding resistances of motors, refer to their respective specification manuals, or ask FANUC. For insulation resistances, see the following table.
F To use a motor as long as possible, perform periodic maintenance and inspection for it, and check its winding and insulation resistances.
Note that extremely severe inspections (such as dielectric strength tests) of a motor may damage its windings. For the winding resistances of motors, refer to their respective specification manuals, or ask FANUC. For insulation resistances, see the following table.
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Judgment
The winding has begun deteriorating. There is no problem with the performance at present. Be sure to perform periodic inspection. The winding has considerably deteriorated. Special care is in need. Be sure to perform periodic inspection. Unacceptable. Replace the motor.
1 to 10 M
Lower than 1 M
11
12
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WARNING
F Never ground or shortcircuit either the power supply lines or power lines.
Protect the lines from any stress such as bending. Handle the ends appropriately.
F Ensure that the power supply lines, power lines, and signal lines are securely connected.
A loose screw, loose connection, or the like will cause a motor malfunction or overheating, or a ground fault.
F Insulate all exposed parts that are charged. F Never touch the regenerative discharge resistor or radiator directly.
The surface of the radiator and regenerative discharge unit become extremely hot. Never touch them directly. An appropriate structure should also be considered.
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WARNING
F Do not disassemble the amplifier. F Ensure that the cables used for the power supply lines and power lines are of the appropriate diameter and temperature ratings. F Do not apply an excessively large force to plastic parts.
If a plastic section breaks, it may cause internal damage, thus interfering with normal operation. The edge of a broken section is likely to be sharp and, therefore, presents a risk of injury.
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CAUTION
F Do not step or sit on the amplifier.
Also, do not stack unpacked amplifiers on top of each other.
F Before connecting the power supply wiring, check the supply voltage.
Check that the supply voltage is within the range specified in this manual, then connect the power supply lines.
F Ensure that the combination of motor and amplifier is appropriate. F Ensure that valid parameters are specified.
Specifying an invalid parameter for the combination of motor and amplifier may not only prevent normal operation of the motor but also result in damage to the amplifier.
F Ensure that the amplifier and peripheral equipment are securely connected.
Check that the magnetic contactor, circuit breaker, and other devices mounted outside the amplifier are securely connected to each other and that those devices are securely connected to the amplifier.
F Check that the amplifier is securely mounted in the power magnetics cabinet.
If any clearance is left between the power magnetics cabinet and the surface on which the amplifier is mounted, dust entering the gap may build up and prevent the normal operation of the amplifier.
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CAUTION
16
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NOTE
F Keep the nameplate clearly visible. F Keep the legend on the nameplate clearly visible. F After unpacking the amplifier, carefully check for any damage. F Mount the amplifier in a location where it can be easily accessed to allow periodic inspection and daily maintenance. F Leave sufficient space around the machine to enable maintenance to be performed easily.
Do not place any heavy objects such that they would interfere with the opening of the doors.
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WARNING
F Before turning on the power, check that the cables connected to the power magnetics cabinet and amplifier, as well as the power lines and power supply lines, are securely connected. Also, check that no lines are slack. F Before turning on the power, ensure that the power magnetics cabinet is securely grounded. F Before turning on the power, check that the door of the power magnetics cabinet and all other doors are closed.
Ensure that the door of the power magnetics cabinet containing the amplifier, and all other doors, are securely closed. During operation, all doors must be closed and locked.
F Apply extreme caution if the door of the power magnetics cabinet or another door must be opened.
Only a person trained in the maintenance of the corresponding machine or equipment should open the door, and only after shutting off the power supply to the power magnetics cabinet (by opening both the input circuit breaker of the power magnetics cabinet and the factory switch used to supply power to the cabinet). If the machine must be operated with the door open to enable adjustment or for some other purpose, the operator must keep his or her hands and tools well away from any dangerous voltages. Such work must be done only by a person trained in the maintenance of the machine or equipment.
F When operating the machine for the first time, check that the machine operates as instructed.
To check whether the machine operates as instructed, first specify a small value for the motor, then increase the value gradually. If the motor operates abnormally, perform an emergency stop immediately.
F After turning on the power, check the operation of the emergency stop circuit.
Press the emergency stop button to check that the motor stops immediately, and that the power being supplied to the amplifier is shut off by the magnetic contactor.
F Before opening a door or protective cover of a machine to enable adjustment of the machine, first place the machine in the emergency stop state and check that the motor has stopped.
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CAUTION
F Note whether an alarm status relative to the amplifier is displayed at powerup or during operation.
If an alarm is displayed, take appropriate action as explained in the maintenance manual. If the work to be done requires that the door of the power magnetics cabinet be left open, the work must be carried out by a person trained in the maintenance of the machine or equipment. Note that if some alarms are forcibly reset to enable operation to continue, the amplifier may be damaged. Take appropriate action according to the contents of the alarm.
F Before operating the motor for the first time, mount and adjust the position and speed detectors.
Following the instructions given in the maintenance manual, adjust the position and speed detectors for the spindle so that an appropriate waveform is obtained. If the detectors are not properly adjusted, the motor may not rotate normally or the spindle may fail to stop as desired.
F If the motor makes any abnormal noise or vibration while operating, stop it immediately.
Note that if operation is continued in spite of there being some abnormal noise or vibration, the amplifier may be damaged. Take appropriate corrective action, then resume operation.
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WARNING
F Read the maintenance manual carefully and ensure that you are totally familiar with its contents.
This manual describes daily maintenance and the procedures to be followed in the event of an alarm being issued. The operator must be familiar with these descriptions.
B65235EN/02
WARNING
F Before resetting an alarm, ensure that the original cause of the alarm has been removed. F Contact FANUC whenever a question relating to maintenance arises. F Notes on removing the amplifier
Before removing the amplifier, first ensure that the power is shut off. Be careful not to jam your fingers between the power magnetics cabinet and amplifier.
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B65235EN/02
CAUTION
F Tighten all screws firmly. F Check the specification code of the fuse, PC board, and other components.
When replacing a fuse or PC board, first check the specification code of the fuse or PC board, then mount it in the correct position. The machine will not operate normally if a fuse or PC board having other than the correct specification code is mounted, or if a fuse or PC board is mounted in the wrong position.
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B65235EN/02
NOTE
F Ensure that the battery connector is correctly inserted.
If the power is shut off while the battery connector is not connected correctly, the absolute position data for the machine will be lost.
23
PREFACE
B-65235EN/02
PREFACE
This manual provides information necessary for maintenance of the FANUC Servo Motor Amplifier series servo amplifier unit. There is one servo amplifier unit type,as listed below.
Name SVU Designation A06B-6093-H*** Remark Conforms to VDE0160, UL and CSA.
Part I describes the procedure to start up the servo amplifier unit. Part II describes the error recovery procedure. Part III describes appendex. Part IV describes the maintenance of AC servo motors. This document uses the abbreviations listed below.
Model A06B-6093-H*** FANUC Series o FANUC Power Mate -MODEL o Abbreviation SVU Series o Power Mate-o
In this manual, the servo parameter numbers are arranged as shown below. (Example)
No.2062 No.8x62 Overload protection coefficient(OVC1)
Series 0-C
In addition to this manual, those listed below are provided for the FANUC Servo Motor Amplifier series (servo amplifier units). 1) FANUC SERVO MOTOR series DESCRIPTIONS B-65232EN 2) FANUC AC SERVO MOTOR series DESCRIPTIONS B-65142E WARNING When maintaining or inspecting the servo amplifiers, keep the power supply switched off. Also make sure that the CHANGING LED (red) on the front panel of the servo amplifier is off. (See Appendix A)
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B-65235EN/02
Table of Contents
3.3 3.4
CONNECTING THE SEPARATE REGENERATIVE DISCHARGE UNIT .....................................36 INITIALIZING SERVO PARAMETERS..........................................................................................37
3.4.1 Servo Amplifier Unit ....................................................................................................................... 37
3.2 3.3
Table of Contents
B-65235EN/02
Feedback Disconnected Alarm........................................................................................................ 65 Motor Overheat Alarm .................................................................................................................... 66 Invalid Servo Parameter Setting Parameters................................................................................67 Pulse Coder Error Alarm ................................................................................................................ 74 Rotation Speed Data Error Alarm .................................................................................................. 75 Pulse Coder Communication Error Alarm .....................................................................................75
4. REPLACING THE FUSE ...............................................................................................76 5. CONNECTING THE BATTERY FOR AN ABSOLUTE PULSE CODER.......................77
APPENDIX ............................................................................................88
A. SERVO AMPLIFIER UNIT FRONT PANEL ..................................................................89 B. MOTOR PARAMETER LIST.........................................................................................90 C. FSSB.............................................................................................................................94
C.1 GENERAL......................................................................................................................................95 C.2 CONFIGURATION.........................................................................................................................96 C.3 OPERATION CONFIRMATION METHOD ....................................................................................97
C.3.1 Check Pin Board .............................................................................................................................. 97 C.3.2 Connection to the servo amplifier unit........................................................................................... 98
C.4 SERVO CHECK BOARD ...............................................................................................................99 C.5 TROUBLESHOOTING AND RECOVERY...................................................................................100 C.6 i SERIES INITIAL SETTING OF PARAMETER ..........................................................................104
C.6.1 C.6.2 C.6.3 C.6.4 C.6.5 Outlline .......................................................................................................................................... 104 Slave............................................................................................................................................... 105 Manual setting 1............................................................................................................................ 106 Automatic setting .......................................................................................................................... 107 Manual setting 2............................................................................................................................ 114
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I. START-UP PROCEDURE
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2. CONFIGURATION
START-UP PROCEDURE
B-65235EN/02
OVERVIEW
This part provides information necessary to confirm the system configuration and start up the servo amplifier units: (1) (2) (3) Configuration Start-up procedure Operation confirmation procedure
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B-65235EN/02
START-UP PROCEDURE
2. CONFIGURATION
CONFIGURATION
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2. CONFIGURATION
START-UP PROCEDURE
B-65235EN/02
2.1
BASIC CONFIGURATION
The basic configuration is shown below. Refer to "FANUC SERVO MOTOR series Descriptions" (B-65232EN) for detail. Ex. Two SVU2s
Control power supply 24V DC 10% Servo amplifier unit series SVU Servo amplifier unit series SVU
Breaker
AC line filter
Magnetic contactor
(Note 1)
(Note 3)
Servo motor
Servo motor
NOTE 1 This circuit breaker is intended to protect the power cord and servo amplifier unit series SVU. 2 This AC line filter should always be used, so influence by harmonic noise to the power supply can be reduced. When the line voltage is within specification, and a power transformer (isolation type) is used, the AC line filter can be omitted. If the AC line filter is ineffective in making the servo amplifier unit satisfy EMC standards, use an appropriate commercial noise filter. 3 The magnetic contactor is required if it is necessary to qualify for European CE marking. 4 Install a surge absorber between the power lines and between a power line and a ground line at the entrance of the power magnetic cabinet in order to protect the equipment from a surge voltage. Refer to the sector "Installation conditions and notes" of FANUC SERVO series Description (B-65232EN)
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B-65235EN/02
START-UP PROCEDURE
2. CONFIGURATION
2.2
MAJOR COMPONENTS
SVU
Model SVU-12 SVU-20 Oder specification A06B-6093-H101 A06B-6093-H102 Power P.C.B. A20B-2100-0130 A20B-2100-0131 Control P.C.B. A20B-2002-0320 A20B-2002-0320 Remark
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3. START-UP PROCEDURE
START-UP PROCEDURE
B-65235EN/02
START-UP PROCEDURE
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B-65235EN/02
START-UP PROCEDURE
3. START-UP PROCEDURE
3.1
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3. START-UP PROCEDURE
START-UP PROCEDURE
B-65235EN/02
3.2
3.2.1
NOTE Allowable deviation voltage means deviation for a few minutes, not continuous.
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B-65235EN/02
START-UP PROCEDURE
3. START-UP PROCEDURE
(2)
Power requirements The power requirement of the servo amplifier unit is the sum of the power requirements of individual servo motors. When a servo motor accelerates or decelerates rapidly, it may require twice as much power as the continuous rating momentarily. Check on the input voltage required when more than one servo motor accelarates or decelarates simultaneously, and keep the voltage above 170VAC for threephase input and above 187 VAC for single-phase input. Refer to Chapter 5 in Part III of FANUC SERVO MOTER series Description (B-65232EN) for details of the power requirements.
3.2.2
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3. START-UP PROCEDURE
START-UP PROCEDURE
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3.3
A06B-6093-H401 A06B-6093-H402
(2)
Connection
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B-65235EN/02
START-UP PROCEDURE
3. START-UP PROCEDURE
3.4
3.4.1
(2)
Series 16,18,20,21
SYSTEM [SYSTEM] [ ] [SV-PRM] If no servo screen appears, set the following parameter as shown, and switch the NC off and on again.
#7 3111 #6 #5 #4 #3 #2 #1 #0 SVS
SVS (#0) = 1
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3. START-UP PROCEDURE
START-UP PROCEDURE
B-65235EN/02
Series 0-C
Press the PARAM key several times, and the servo setting screen will appear. If no servo screen appears, set the following paramter as shown, and switch the NC off and on again.
#7 389 #6 #5 #4 #3 #2 #1 #0 SVS
SVS (#0) = 0
(to display the servo screen) When the following menu appears on the screen, move the cursor to the item you want to set and enter data directly.
Servo set X axis INITIAL SET BITS Motor ID No. AMR CMR Feed gear (N/M) Direction Set Volocity Pulse No. Position Pulse No. Ref. counter Value SETTING= Servo setting menu 00001010 16 00000000 2 1 100 111 8192 12500 10000
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B-65235EN/02
START-UP PROCEDURE
3. START-UP PROCEDURE
These read to move over so look like headings install a part of previous. 3)
#7 Initial set bits #6
Start initializing
#5 #4 1 #3 1 #2 #1 DGPR #0 0
PLC0 (#0) = 0
DGPR (#1) = 0
#4: Bit to enable extending the position gain range (should be set to 1) #3: 0 (Series) 1 (other than Series 0-C) (automatically set to 1)
4)
Specify the motor Type No. Select the motor Type No. according to the model and specification (four digits in the middle segment of A06B-XXXXBXXX) of your motor.
C3/2000 0121 7 1/3000 0371 61 0.5/3000 0113 13 3/3000 0033 33 C6/2000 0126 8 2/2000 0372 46 1/3000 0031 35 6/2000 0034 34 C12/2000 0141 9 2/3000 0373 62 2/3000 0032 36
Motor model Motor specification Motor type No. Motor model Motor specification Motor type No. Motor model Motor specification Motor type No. Motor model Motor specification Motor type No.
5)
Set AMR as described below. The setting does not depend on the model of the motor.
pulse coder pulse coder 00000000 00000000
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3. START-UP PROCEDURE
START-UP PROCEDURE
B-65235EN/02
6)
Set CMR with the scale of a distance the NC instructs the machine to move. CMR = Command unit / Detection unit
CMR 1/2 to 48 Setting value = CMR 2
Usually, CMR = 1, so specify 2. 7) Specify the flexible feed gear (F.FG). This function makes it easy to specify a detection unit for the leads and gear reduction ratios or various ball screws by changing the number of position feedback pulses from the pulse coder or separate detector.
Setting for the or pulse coder in the semi-closed mode F.FG numerator ( 32767) F.FG denominator ( 32767) Number of position necessary for each revolution of the motor 1000000 (as irreducible fraction)
NOTE 1 For both F.FG numerator and denominator, the maximum setting value (after reduced) is 32767. (Example of setting) For detection in 10 m unit, specify as follows:
Ball screw lead 10(mm/rev) 20 30 Number of necessary position pulses 1000(pulse/rev) 2000 3000 F.FG 1/1000 2/1000 or 1/500 3/1000
(Example of setting) If the machine is set to detect in 100 degree units with a gear reduction ratio of 10:1 for the rotation axis, the table rotates by 360/10 degrees each time the motor makes one turn. 100 position pulses are necessary for the table to rotate through one degree. The number of position pulses necessary for the motor to make one turn is: 360 / 10 100 = 3600 pulse
F.FG numerator F.FG denominator = 3600 1000000 = 36 10000
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B-65235EN/02
START-UP PROCEDURE
3. START-UP PROCEDURE
Setting for use of a separate detector (full closed) Number of position necessary for the motor to (as F.FG numerator ( 32767) make one turn irreducible = Number of position pulses fraction) F.FG denominator ( 32767) from the separate detector when the motor makes one turn
NOTE 2 DMR can also be used with the separate position detector, provided that F.FG = 0 (Example of setting) When the separate detector detects 1 m for 1 m scale.
Ball screw lead 1(mm/rev) 5 10 Number of necessary position pulses 1000(pulses/rev) 5000 10000 F.FG 1/1 1/1 1/1
8)
9)
Specify the number of velocity pulses and the number of position pulses.
Semi-closed Full-closed 1 #0=0 8192 Np
Command unit (m) Initialization bit Number of velocity pulses Number of position pulses
Np: Number of position pulses from the separate detector when the motor makes one turn. When using a separate detector (full-closed mode), also specify the following parameters:
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3. START-UP PROCEDURE
START-UP PROCEDURE
B-65235EN/02
Must be specified for all NCs. OPTX (#1) The separate position detector is : 1 : used 0 : Not used NOTE For Series 16, 18, 20 and 21, setting this parameter causes bit 3 of parameter No.2002 to be set to 1 automatically.
Series 0-C
#7 0037 #6 #5 STP8 #4 STP7 #3 STP4 #2 STPZ #1 STPY #0 STPX
STPX to 8
The separate position detector is : 1 : Used for the X-axis, Y-axis, Z-axis, fourth axis, seventh axis, and eighth axis 0 : Not used for the X-axis, Y-axis, Z-axis, fourth axis, seventh axis, and eighth axis
Power Mate-E
#7 1002 GRSL #6 #5 #4 #3 PFSE #2 #1 #0
GRSL(#7) PFSE(#3)
The separate position detector is : 1 : Used 0 : Not used Set GRSL,PFSE to same value. 10) Specify the reference counter. The reference counter is used in making a return to the reference position by a grid method. The value to be specified in the number of pulses necessary for the motor to make one turn, or the value obtained by dividing the number by an integer.
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B-65235EN/02
START-UP PROCEDURE
3. START-UP PROCEDURE
11)
Switch the NC off and on again. This completes servo parameter initialization.If a servo alarm related to pulse coders occurs for an axis for which a servo motor or amplifier is not connected, specify the following parameter.
#6 #5 #4 #3 #2 #1 #0 SERD
#7 2009 8X09
SERD (#0)
The serial feedback dummy function is: 1 : Used 0 : Not used 12) When you are going to use an , pulse coder as an absolute pulse coder, use the following procedure. The procedure for setting absolute position communication using the pulse coder is somewhat different from the procedure using serial pulse coder A. 1. Set the following parameter, and switch the CNC off.
APCX (#5)
1: 0:
Performs absolute position as communication pulse coder. Does not perform as absolute position pulse coder.
Series 0-C
#7 21 #6 #5 APC8 #4 APC7 #3 APC4 #2 APCZ #1 APCY #0 APCX
APCX to 8
1: 0:
Performs absolute position communication for the X-, Y-, Z-, 4-, 7-, or 8- or 8-axis. Does not perform absolute position communication for the X-, Y-, Z-, 4-, 7-, or 8-axis.
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3. START-UP PROCEDURE
START-UP PROCEDURE
B-65235EN/02
Power Mate -E
#7 21 #6 #5 #4 #3 #2 #1 #0 APCX
APCX (#0)
1: 0:
Performs absolute position as communication pulse coder. Does not perform as absolute position pulse coder. 2. After making sure that the battery for the pulse coder is connected,switch the NC on.
These steps were added for the and pulse coders.
3. Absolute position communication is performed, and a request to return to the reference position is displayed. 4. Move motor more than one revolution by JOG Feed. 5. Turn off and on the CNC. 6. Absolute position communication is performed, and a request to return to the reference position is displayed. 7. Return to the reference position.
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B-65235EN/02
START-UP PROCEDURE
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START-UP PROCEDURE
B-65235EN/02
4.1
CONFIRMATION PROCEDURE
1. Supply power ALARM indicator is lit. See servo motor tuning screen. 2. Alarm indicator is not lit. 3. After confirming the NC parameters, release the emergency stop condition. READY indicator is not lit. See servo motor tuning screen. 4. READY indicator is lit. 5. Check the servo motor operation. Alarm is issued. See Part II. The motor malfunctions. 6. Refer to "FANUC AC SERVO MOTOR series Parameter Manual (B-65150E)."
POWER
READY
ALM
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B-65235EN/02
START-UP PROCEDURE
4.2
When you are going to observe the signals inside the amplifier with an oscilloscope,attach the check pin board listed below to the connector.
Order No. A06B-6071-K290 Description of the order Printed-circuit board Cable(20m) A20B-1005-0340
A660-2042-T031#L200RO
5 C N 1 10 15
4 9 14
3 8 13 18
2 7 12 17
1 6 11 16 C N 2 34mm
20 19
86mm
NOTE 1. CN1 and CN2 are wired with a one-to-one correspondence. 2. The connector pin numbers correspond to the check pin numbers.
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START-UP PROCEDURE
B-65235EN/02
Pin No. 1) 2) 3) 4) 5) 6) 7) 8) 9) 10) 11) 12) 13) 14) 15) 16) 17) 18) 19) 20) 0V 0V
Signal name
Description
Reference voltage Phase R motor current signal Phase S motor current signal
Reference voltage Reference voltage +24V power (with tolerance of 10%) +15V power (with tolerance of 10%) -15V power (with tolerance of 10%) +5V power (with tolerance of 5%)
ESP
NOTE The output voltage reflects directly the actual current in the motor. To observe the output voltage, use an oscilloscope. The voltmeter position of a volt-ohm-milliammeter or other voltmeter cannot be used.
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B-65235EN/02
START-UP PROCEDURE
4.2.1
4.2.2
Then the motor instantaneous current can be obtained by multipling this coefficient by the voltage observed on the check-pin. For example SVU20
Coefficient to calculate the motor current = 20A 4V 5 [A/V]
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START-UP PROCEDURE
B-65235EN/02
(2)
Specification A06B-6057-H602
(3)
Connection the servo check board. When connecting the check board, always keep the NC switched off. If you do not obtain a correct waveform install strapping on the 5 MHz side of clock pin S1 on the check board.
Preventing reverse insertion cable Adaptor cable CN0 Adaptor board OPTION-2 JA8B Fifth to eighth axes Do not mix up CN0 with CN1. TEST 1 TEST 2 CN1 To the analog spindle
Connector JA8A
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B-65235EN/02
START-UP PROCEDURE
(4)
Check pin Signal TSAL TSAM
(Check terminal TSAL or TSAM is not used.) (5) VCMD signal The VCMD signal is used to output a speed command. It can also be used to measure a very small vibration or uneven movement of the motor. The VCMD signal conversion mode can be switched by a parameter. Because the VCMD signal is clamped at 5V, the waveform may become difficult observe. In such a case, switch for easier observation .
#6 #5 VCM2 #4 VCM1 #3 #2 #1 #0
#7 2012 8X12
VCM2 0 0 1 1
VCM1 0 1 0 1
To check small vibration monitor the entire vibration on the DC mode of the oscilloscope then enlarge monitor the desired range on the AC mode.
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START-UP PROCEDURE
B-65235EN/02
E GND
When the signal conversion result for the VCMD waveform is W(rpm/5V), the voltage per positional shift pulse is:
300 position gain (S1) Number of positional feedback pulses/motor revolution W
(Example) Assume the conditions: Position gain = 30(S-1), the number of positional feedback pulse/motor revolution = 1000 pulse, and signal conversion result for the VCMD waveform = 14 rpm /5V with 1 m/pulse) Under these conditions, if you observe E = 300mV, 1/f = 20ms and VCM1=1,VCM2=0: Voltage per positional deviation pulse = 64 mV/pulse Therefore, table vibration = 300 1/64 = 4.6 m, with a vibration period of 50 Hz (6) TCMD signal The TCMD signal outputs a motor torque command. It may be different from the actual current (IR,IS) of the motor rotating at high speed, because the motor produces a back electromotive force.
Signal output for maximum current 4.44V 2.7 1/3000, 2/3000 0.5/3000, 1/3000 2/2000, 2/3000 20Ap 4.44V 4.5 3/3000, 6/2000 C3/2000, C6/2000, C12/2000, Ap/V Applicable servo motor
B-65235EN/02
START-UP PROCEDURE
(7)
If the TSA signal is clamped at 5V, check whether the following parameter is specified.
2115 Not used
Be sure to specify 0.
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1. OVERVIEW
OVERVIEW
This part describes troubleshooting and recovery procedures. Each item should be carefully followed to find the cause of trouble and take necessary actions. First, check the alarm No. (Servo tuning screen on the CNC) to find the cause of trouble by referring to Chapter 2. Second, take appropriate actions according to Chapter 3.
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2.1
Alarm No. 309 Alarm3 309 Alarm4 400 Alarm1 bit7 414 Alarm1 bit5 414 Alarm1 bit3 414 Alarm1 bit6 414 Alarm1 bit2 414 Alarm1 bit4 416 Alarm1 bit1 417
Description pulse coder error alarm Pulse coder communication error alarm Overheat alarm (motor) Overload alarm (OVC) DC link over-voltage alarm(HV) Low DC link voltage(LVDC) Over-Regenerative discharge alarm (DCOH) Over-current alarm (HC) Feedback disconnected alarm Invalid servo parameter setting alarm
Remark 3.3.6 3.3.8 3.1.2 3.1.2 3.1.2 3.1.2 3.1.2 3.1.2 3.3.3 3.3.5
To interpret alarms 1 to 4, see Subsec. 3.3.1 Alarm1 Diagnose No. 720 to 723 or diagnose No. listed on the right. Alarm2 Diagnose No. 730 to 733 Alarm3 Diagnose No. 760 to 763 Alarm4 Diagnose No. 770 to 773
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2.2
Alarm No. 350 Alarm3 350 Alarm3 bit3 351 Alarm4 400 Alarm1 bit7 414 Alarm5 bit6 414 Alarm1 bit5 414 Alarm1 bit3 414 Alarm1 bit6 414 Alarm5 bit2 416 Alarm1 bit2 414 Alarm1 bit4 416 Alarm1 bit1 417
Description pulse coder error alarm Rotation speed data error alarm Pulse coder communication error alarm Overheat alarm (motor) Current conversion error alarm Overload alarm (OVC) DC link over-voltage alarm (HV) Low DC link voltage(LVDC) FAN stop alarm(FAL) Over-Regenerative discharge alarm(DCOH) Over-current alarm(HC) Feedback disconnected alarm Invalid servo parameter setting alarm
Remark 3.3.6 3.3.7 3.3.8 3.3.4 3.2 3.3.2 3.1.2 3.1.2 3.1.2 3.1.2 3.1.2 3.3.3 3.3.5
To interpret alarms 1 to 5, see Subsec 3.3.1 Alarm1 Diagnose No. 200 or diagnose No. listed on the right. Alarm3 Diagnose No. 202 Alarm4 Diagnose No. 203 Alarm5 Diagnose No. 204
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3.1
3.1.1
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3.1.2
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Fan alarm
Check if the fan,built into the servo amplifier unit, has stopped. If it is not stopped, replace the servo amplifier. Over-current alarm (1) Check that following parameter are set to standard (HC) values. If they are not , normal current is impossible.
(FAL)
For digital servo software(9066, 9080 series) Make sure that besides the parameters for conventional control described above, the following parameters have standard values.
No.2057 No.2111 No.2058 No.2127 No.2110 No.2128 No.2129
(2) Disconnect the power wires from the amplifier connector, and release the emergency stop condition. If an overcurrent alarm is issued, replace the amplifier. If an overcurrent alarm is not issued, go to (3). (3) Disconnect the power wires from the amplifier connector, and check the U,V and W wires for isolation from grounding wire sequentially. If they are isolated from the grounding wire, go to (4), (5). If any of the power wires is short-circuited to the grounding wire, disconnect the power wires from the motor connector, amd check the U, V, and W terminals of the motor for isolation from the ground terminal sequentially. If the U, V, W terminal of the motor is short-circuit to the ground terminal, replace the motor. If they are isolated from the ground terminal, replace the power wires. (4) Connect the wires again, and observe the motor current (IR, IS) waveforms when the motor is accelerating or decelerating. (See Subsec. I-4.4.2 for how to measure) If the motor current waveforms are abnormal, replace the amplifier. (5) Check if noise is induced on the motor current (IR, IS) waveforms. If there is noise, shield the wires and ground the shielding. If there is no noise, replace the amplifier. (6) If any of the above five items does not fit the case, the pulse coder, command cable or the hardware inside the CNC is probably defective.
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3.2
(1)
Exchange the command cables as shown in the example below. Turn on CNC in an emergency stage. If the alarm is issued on the same axis, go to (2). If the alarm is issued now on the axis that was normal, go to (3).
(2) (3)
The module for current conversion in the CNC is defective. Disconnect the command cable from the axis on which the alarm was issued, and connect it to a normal axis. If the alarm is issued, on the same axis, go to (4). If the alarm is issued now on the axis that was normal, go to (5).
(4) (5)
The servo amplifier is defective. The command cable is defective. Replace it.
CNC M-axis command cable Servo amplifier Defective axis (L-axis) L-axis
Exchange
M-axis
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3.3
SERVO SOFTWARE
3.3.1
Series 0-C,16,18,20,21
<SYSTEM> [SYSTEM] [ ] [SV-PRM] If the servo setting screen does not appear, specify the following parameter, then switch the NC off and on again.
Series 16,18,20,21
#7 3111 #6 #5 #4 #3 #2 #1 #0 SVS
SVS(#0) = 1
Series 0-C
389
SVS(#0) = 0
Servo adjustment screen The cause and detailed information of servo alarms are indicated with alarm 1 to 5.
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3.3.2
Overload Alarm
(1) Make sure that the motor is not vibrating. If a motor vibrates, the current flowing in it becomes more than necessary, resulting in an alarm. Make sure that the power line to the motor is connected correctly. If the connection is incorrect, an abnormal current flows in the motor, resulting in an alarm. Make sure that the following parameters are setted correctly. An overload alarm is issued based on the result of calculation of these parameters. Be sure to set them to the standard values.
Overload protection coefficient (OVC1) Overload protection coefficient (OVC2) Overload protection coefficient (OVCLMT)
(2)
(3)
(4)
Attach the check board (A06B-6071-K290) to connector JX5 to measure the waveform of the actual current (IR and IS) of the servo amplifier unit. Start the motor and measure the actual current (IR and IS). If the actual current exceeds 1.4 times the rated current, the constant for the acceleration/ deceleration duration is too small, or the load on the machine is too heavy for the capacity of the motor. If the actual current exceeds 1.4 times the rated current during normal operating, the load on the machine is too heavy for the capacity of the motor.
3.3.3
For the CM alarm, go to Subsec 3.3.7. For soft ware disconnected, go to(1). For hard ware disconnected, go to(3).
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(1)
For a full-closed Series 0-C system, make sure that the phase C signal connection is correct, or when the system is not a Series 0-C, go to (2). If there is a large backlash; or if the number of position feedback pulses divided by the motor one -rotation signal is equal to or less than 640, and a soft ware disconnected alarm is detected when it should not,change the alarm level.
#6 #5 #4 #3 #2 #1 TGAL #0
(2)
#7 2003 8X03
TGAL(#1)=1
2064 8X64
If the alarm is a separate detector hardware disconnected alarm, ckeck the specification and wiring of the separate detector.
3.3.4
WARNING It is dangerous to touch the motor by the hand or any other part of you body. If the motor is overheated, use it less frequently. (2) When the motor is cooled enough, check whether an overheat alarm occurs. If it occurs, the thermostat is defective. If not, use the motor less frequently.
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B-65235EN/02
3.3.5
Try resetting POA1 to 0 Parameter: No.8X47-2047=0 1 pulse suppression Disable the pulse suppression function. Adjustment2 level overflow Function bit:No.8X03-2003, B4=0 Feed-foward Reset the feedfoward coefficient to 0 Adjustment3 coefficient overflow Parameter: No.8X68-2068=0 No.8X92-2092(advance)=0 Position gain Reset the position gain to 0 Adjustment4 overflow Parameter: No. 517-1825= 0 Number of position The number of position pulses is Adjustment5 pulses overflow greater than 13100 (No. 8X00-2000,B0) Motor type No. Check whether the setting is correct. Adjustment6 Parameter: No. 8X20-2020 Check whether the axis assignment is Invalid axis correct. selection Series 0-C: No. 269 to 274 parameter setting Series 16, 18, 20, 21 Power Mate: No.1023 Others Number of position pulses 0 Number of velocity pulses 0 Direction of travel = 0 Feed gear numerator 0, denominator 0 Numerator > denominator (Serial A, and semi-closed mode)
NOTE The parameter numbers in the table are in the following order: No. (Series 0-C)-(Series 16, 18, 20, 21)
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Survey
If the adjustments described below cannot eliminated overflow, let us work out the setting procedure individually.
NOTE This function is available for 9060/L, 9070/C, 9046/A, and later versions. How to use the tenfold POA1 setting function If POA1 is specified as a negative value , the absolute value is internally multiplied by 10. If the value you want set is a positive value, specify as follows: (-1) the desired setting / 10
Reduce the setting so that the value of the above formula falls within one word (32767).
Reduce the setting so that the value of the above formula falls within one word (32767).
CAUTION Number of velocity FB pulses (No.8X23-2023) Number of position FB pulses (No.8X24-2024) Feed gear numerator (No.8X84-2084) Feed gear denominator (No.8X85-2085)
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B-65235EN/02
(9046 Series)
If a negative number is specified for the feed-forward coefficient, the internal processing assumes a value ten times the absolute number of the specified number. If the calculation result obtained during parameter setting exceeds 32767, specify as follows: (-1) calculation result / 10
1. 2.
Multiply the feed gear (or DMR) value by an integer. Increase the following value by the same integer.
Series 0-C No.100 to 103 500 to 503 504 to 507 593 to 596 535 to 538 570 to 573 Series16, 18, 20, 21 No.1820 1826, 1827 1828 1829 1851, 1852 1821
Parameter CMR Effective area Limit to a position error during travel Limit to a position error at a halt Backlash Reference counter
(Example) To position gain overflows internally under the following conditions: pulse coder, Reduction gear ratio: 1/20, Ball screw: 1 mm/rev, Position gain: 30 (with 1 scale) In this case, specify the position gain setting range expansion function. For 9046 series, multiply the number of position pulses by 8.
Number of position pulses (No.8X24-1891) 8 50 400
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4096
( 4 serial A)
(1)
(1)
(2)
is 32767 exceeded? No Is your system a semi-closed system with serial pulses coder A or pulse coder? Yes Feed gear denominator Feed gear numerator 1 80 Full closed or serial C
(2)
(3)
(2)
(4)
(2)
is 32767 exceeded?
(5)
NOTE If the parameter setting value is 100 or less, use 100 instead of 10000 at a term indicated with *.
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655
4 DMR
(1)
is 32767 exceeded? No Is the feed gear in use? Yes Is your system a semi-closed system with serial pulse coder A or pulse coder? Yes No No No overflow has occurred.
(1)
DMR 4
1 10
(2)
(1)
DMR 4
(3)
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655
(4)
No
(4)
(5)
is 32767 exceeded?
Yes Is your system a semi-closed system with serial pulse coder A or pulse coder? Yes No (5)
(5)
1 80
(7)
(5)
(8)
is 32767 exceeded? No
is 32767 exceeded? No
Is (6), (7), or (8) less than or equal to 1000? Yes Is the specified position gain 6253 or greater?
No
No
Yes
To increase precision, the value set for the parameter is multiplied by 16 internally. Restart at using the resulting value.
To increase precision, the value set for the parameter is multiplied by 4 internally. Restart at using the resulting value.
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3.3.6
BZAL (#2)
CSAL (#6)
(#7)
#7 Alarm 5 #6
Probably, pulse coder or feedback cable is abnormal, or noise For serial pulse coder A, a clock alarm has occured. For pulse coder, the pulse coder or feedback cable is abnormal. The voltage of the pulse coder battery is 0V. Replace the battery and cause a return to the reference position. Pulse coder or feedback cable is abnormal The voltage of the pulse coder battery is dropping. (warning) For serial pulse coder A, a check sum alarm has occured. For pulse coder, an LED error has occured. This is not an alarm.
#5 #4 LDAL #3 PMAL #2
#1
#0
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3.3.7
RCAL (#3)
pulse coder
#7 Alarm 1 Alarm 2 Alarm 3 #7 ALDF #7 #6 #6 #5 #5 #4 #4 #3 #3 CMAL #2 #2 #6 #5 #4 #3 #2 #1 FBAL #1 #1 #0 #0 #0
CMAL (#3)
(See Subsec. 3.3.1) A pulse count error occurred. If the CNC software does not correspond to series, this bit is not used for a mode other than the APC MODE. If a built-in pulse coder hardware discontinued alarm (#1 of alarm 1 = 1 and #7 of alarm 2 = 1) occurs in a system with an pulse coder, a pulse count error has occurred.
3.3.8
(See Subsec. 3.3.1) A communication error occurred from the pulse coder. The pulse coder or feedback cable is abnormal, or the servo unit is defective. A communication error occurred from the pulse coder. The pulse coder or feedback cable is abnormal, or the servo unit is defective. The pulse coder does not communicate. The pulse coder or feedback cable is abnormal.
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B-65235EN/02
4
WARNING
Replacement procedure
1 Remove the plastic cover. 2 Replace the fuse near the connector (CX11) on the P.C.B. (A20B-2100-0130 to -0131). (See Appendix A.)
Use For control power supply Name F600 Qty. Specification 1 FANUC: A06B-6073-K250 MAKER: LM32, DC48V, F3.2A Daito
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MOTOR MAINTENANCE
Generally, series servo motors have no parts that wear out or that must be replaced periodically, unlike DC servo motors, which have brushes that must be replaced periodically. However, you should perform periodic maintenance for servo motors so as to keep their initial performance as long as possible and to prevent breakdowns. Therefore, we recommend that you inspect the servo motors periodically according to the descriptions given below.
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MOTOR MAINTENANCE
B-65235EN/02
1.1
When you receive an series servo motor, make sure that: The motor is exactly the one you ordered, in terms of model, shaft, and detector specifications. No damage has been caused to the motor. The shaft can be rotated by the hand normally. The brake works normally. There are no loose bolts or screws. The servo motors should be kept indoors as a rule. The storage temperature range is -20 to +60C. Do not place or install series servo motors in the place where: It is extremely humid and dew is prone to form. There is a steep change in temperature. There is constant vibration, which may cause damage to the shaft bearings. There is excessive dust or trash. Because FANUC inspects servo motors strictly before shipment, you do not have to inspect them when you receive them.
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B-65235EN/02
MOTOR MAINTENANCE
1.2
Before starting operation, or periodically (once a week or month), you should inspect the series servo motors in terms of the following: (1) Vibration and noise Check the motor for abnormal vibration and noise when the motor is: Not rotating Rotating at low speed Accelerating or decelerating If you find anything unusual, contact your FANUC service staff.
(2)
Damage on the outside Check the motor cover (plastic : red) for crevices and the motor surface (black coating) for scratches and cracks. If you find crevices, scratches and cracks on the motor, we recommend repair or replace the motors. If you are not clear about replacing the motor, contact your FANUC service staff.
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MOTOR MAINTENANCE
B-65235EN/02
(3)
Stains and smudges Check the motor surface and bolt holes for oil or cutting fluid. Oil or cutting fluid can damage the coating by chemical reaction, possibly leading to a failure. Therefore, wipe off oil and cutting fluid on the motor surface periodically. If the motor contains a large quantitius of oil or cutting fluid, check how such a liquid leaks onto the motor, and how the motor is protected from oil or cutting fluid (covering the motor and so on)
(4)
Insulation resistance Check the insulation resistance between motor coil and motor frame with insulation-resistance tester(500VDC). Insulation level is following the below table.
Value of Judgement insulation resistance 100M or more Good. Caution. Check the insulation level at every morning, or 10 to 100M replace the motor. Warning. Check the insulation level at every morning, or 1 to 10M replace the motor. less than 1M No good. Replace the motor.
(5)
Observation of torque command (TCMD) and velocity command (VCMD) waveforms Observe the normal voltage waveforms with an oscilloscope, and keep notes of them. During periodic inspection, check the current waveforms with the records. The waveforms vary according to the operating conditions such as load and cutting speed. Note that you should make comparisons under the same condition (during fast traverse to the reference position, low-speed cutting and so on). See descriptions on the servo check board in Chapter I5 for detailed inspection procedures.
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MOTOR MAINTENANCE
(6)
Overheating Attach a thermolabel on the motor surface and check it visually to see if the motor becomes too hot during normal operation.
WARNING Temperature on the motor surface can exceed 80C under some conditions. Therefore, never touch the motor during operation.
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MOTOR MAINTENANCE
B-65235EN/02
1.3
(2)
Measured waveform
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MOTOR MAINTENANCE
The load condition in the machine is changed to the following reasons. The machine friction is increased for a long time. Reduced efficiency.
Increased friction
Rediced efficiency
2)
Ripple
Measured waveform
3)
The current waveform has ripple or jumps when the motor is not rotating
Ripple
0 Measured waveform
If you find anything unusual in relation to the above items, contact your FANUC service staff.
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MOTOR MAINTENANCE
B-65235EN/02
1.4
The pulse coder in the series servo motor is mounted on the motor shaft directly. Therefore, can not replace the pulse coder. When the pulse coder is detective, replace the motor.
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MOTOR MAINTENANCE
1.5
Listed below are the maintenance arrangement numbers. (1) Oil seal (Maker : NOK Corporation)
Motor model 0.5/3000 1/3000, 2/300 1/3000, 2/2000, 2/3000 3/3000, 6/2000, C3/2000 C6/2000 C12/2000 Oil seal specification (Maker specification) A98L-0001-0135/C0514E5 (AC0514E5 SC type) A98L-0001-0135/C0616E2 (AC0616E2 SC type) A98L-0004-0249/A1188RX (BC3554E1) A98L-0004-0249/A1189RX (BC3555E1)
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APPENDIX
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APPENDIX
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APPENDIX
B-65235EN/02
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B-65235EN/02
APPENDIX
00001000 00000110 00000000 01000100 00000010 1800 6105 2641 127 1140 0 8235 3329 0 0 956 510 3844 21 1894 319 4381 1800 48 5 7282 120 32637 1636 4 4858 0 0 0 0 0 0 0 0 4000 0 0 0 0 0 0 0 0 0 0 0 1622 0 0 0 0 0 0 0 0 0 0 0 17920 400
00001000 00000110 00000000 01000000 00000010 3000 9750 2687 251 2245 0 8235 1690 0 0 956 510 3842 21 1894 319 4000 2400 42 5 7282 120 32412 4446 4 13245 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2678 0 0 0 0 0 0 0 0 0 0 0 17920 400
00001000 01000110 00000000 01000100 00000000 390 1053 2480 111 997 0 8235 3806 0 0 956 510 0 21 3787 319 2800 2330 57 5 7282 120 32623 1811 4 5377 0 0 0 0 0 0 0 0 1680 0 0 0 0 0 0 0 0 0 0 0 1706 0 0 0 0 0 0 0 0 0 0 0 50 400
00000000 01000110 00000000 00000000 00000000 1170 2289 2485 91 812 0 8235 4674 0 0 956 510 0 21 3787 319 2147 1864 46 0 7282 120 32627 1766 4 5245 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1685 0 0 0 0 0 0 0 0 0 0 0 0 400
00001000 01000110 00000000 01000100 00000000 450 900 2503 128 1146 0 8235 3311 0 0 956 510 0 21 3787 319 2520 2330 57 5 7282 120 32519 3112 4 9256 0 0 0 0 0 0 0 0 2940 0 0 0 0 0 0 0 0 0 0 0 2239 0 0 0 0 0 0 0 0 0 0 0 0 400
00001000 00000110 00000000 01000100 00000010 220 540 2556 9 79 0 8235 4789 0 0 956 510 3844 21 1894 319 1200 2000 77 5 7282 120 32585 2288 4 6797 0 0 0 0 0 0 0 0 1000 0 0 0 0 0 0 0 0 0 0 0 1918 0 0 0 0 0 0 0 0 0 0 0 5160 400
00001100 00000110 00000100 01000000 00000000 359 1129 2564 102 916 0 8235 4141 0 0 956 510 0 21 1894 319 2500 2100 71 5 7282 120 32617 1884 4 5594 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1740 0 0 0 0 0 0 12923 0 0 0 0 80 400
00001100 00000110 00000100 01000000 00000010 704 2401 2596 62 1111 0 8235 3415 0 0 956 510 3072 21 1894 319 3300 2700 78 5 7282 120 32540 2850 4 8474 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2142 0 0 0 0 0 0 14203 0 0 0 0 2786 400
00001100 00000110 00000100 01000000 00000010 275 1006 2622 144 2587 0 8235 1467 0 0 956 510 3840 21 1894 319 3000 3200 80 5 7282 120 32456 3897 4 11600 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2506 0 0 0 0 0 0 12923 0 0 0 0 1476 400
00001100 01000110 00000100 01000000 00000010 990 3544 2632 144 2587 0 8235 1467 0 0 956 510 3072 21 3787 319 3200 2000 57 5 7282 120 32456 3897 4 11600 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2506 0 0 0 0 0 0 12923 0 0 0 0 30 400
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APPENDIX
B-65235EN/02
C 6 0126
C12 0141
6 1
4 6
6 2
1 3
3 5
3 6
3 3
3 4
5059 2608
107
6105 2641
127
9750 2687
251
1053 2480
111
2289 2485
91
900
-2503 128
540 2556
9
1129 2564
102
2401 2596
62
1006 2622
144
3544 2632
144
955
0
1140
0
2245
0
997
0
812
0
1146
0
79
0
916
0
1111
0
2587
0
2587
0
8235
3974 0 0 956 510 0 21 1894 319 3046 2100 42 5 7282 120 32686 1030 4 3056 0 0 0 0 0 0 0 0 16288 0 0 0 0 0 0 0 0 0 0 0 1286 0 0 0 0 0 0 0 0 0 0 0 12800 400 0 0 15000 0 0 205
8235
3329 0 0 956 510 0 21 1894 319 4381 1800 48 5 7282 120 32637 1636 4 4858 0 0 0 0 0 0 0 0 20384 0 0 0 0 0 0 0 0 0 0 0 1622 0 0 0 0 0 0 0 0 0 0 0 17920 400 0 0 15000 0 0 326
8235
1690 0 0 956 510 0 21 1894 319 4000 2400 42 5 7282 120 32412 4446 4 13245 0 0 0 0 0 0 0 0 8192 0 0 0 0 0 0 0 0 0 0 0 2678 0 0 0 0 0 0 0 0 0 0 0 17920 400 0 0 15000 0 0 395
8235
3806 0 0 956 510 0 21 3787 319 2800 2330 57 5 7282 120 32623 1811 4 5377 0 0 0 0 0 0 0 0 1680 0 0 0 0 0 0 0 0 0 0 0 1706 0 0 0 0 0 0 0 0 0 0 0 50 400 0 0 0 0 0 51
8235
4674 0 0 956 510 0 21 3787 319 2147 1864 46 0 7282 120 32627 1766 4 5245 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1685 0 0 0 0 0 0 0 0 0 0 0 0 400 0 0 0 0 0 104
8235
3311 0 0 956 510 0 21 3787 319 2520 2330 57 5 7282 120 32519 3112 4 9256 0 0 0 0 0 0 0 0 2940 0 0 0 0 0 0 0 0 0 0 0 2239 0 0 0 0 0 0 0 0 0 0 0 0 400 0 0 0 0 0 74
8235
-4789 0 0 956 510 0 21 1894 319 1200 2000 77 5 7282 120 32585 2288 4 6797 0 0 0 0 0 0 0 0 17384 0 0 0 0 0 0 0 0 0 0 0 1918 0 0 0 0 0 0 0 0 0 0 0 5160 400 0 0 15000 0 0 29
8235
4141 0 0 956 510 0 21 1894 319 2500 2100 71 5 7282 120 32617 1884 4 5594 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1740 0 0 0 0 0 0 0 0 0 0 0 80 400 0 0 0 0 0 51
8235
3415 0 0 956 510 0 21 1894 319 3300 2700 78 5 7282 120 32540 2850 4 8474 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2142 0 0 0 0 0 0 0 0 0 0 0
8235
1467 0 0 956 510 0 21 1894 319 3000 3200 80 5 7282 120 32456 3897 4 11600 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2506 0 0 0 0 0 0 0 0 0 0 0
8235
1467 0 0 956 510 0 21 3787 319 3200 2000 57 5 7282 120 32456 3897 4 11600 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2506 0 0 0 0 0 0 0 0 0 0 0 30 400 0 0 12000 0 0 215
2786
400 0 0 12000 0 0 83
1476
400 0 0 15000 0 0 107
LP24PA
2106
12923
14203
12923
12923
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B-65235EN/02
APPENDIX
C 6 0126
C12 0141
61
46
62
13
35
36
33
34
5059 2608
107
6105 2641
127
9750 2687
251
1053 2480
111
2289 2485
91
900 2503
128
540 2556
9 -79 0
1129 2564
102
2401 2596
62
2093 2622
144
3544 2632
144
955
0
1140
0
2245
0
997
0
812
0
1146
0
916
0
1111
0
2587
0
2587
0
8235
3974 0 0 956 510 0 21 1894 319 3046
8235
3329 0 0 956 510 0 21 1894 319 4381
8235
1690 0 0 956 510 0 21 1894 319 4000
8235
3806 0 0 956 510 0 21 3787 319 2800 2330 57 5 7282 120 32623 1811 4 5377 0 0 0 0 0 0 0 0 1680 0 0 0 0 0 0 0 0 0 0 0 1706 0 0 0 0 0 0 0 0 0 0 0 50 400 0 0 0 0 0 51 0 0 0 0 0 0 0 0 0 0 0 0 0
8235
4674 0 0 956 510 0 21 3787 319 2147 1864 46 0 7282 120 32627 1766 4 5245 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1685 0 0 0 0 0 0 0 0 0 0 0 0 400 0 0 0 0 0 104 0 0 0 0 0 0 0 0 0 0 0 0 0
8235
3311 0 0 956 510 0 21 3787 319 2520 2330 57 5 7282 120 32519 3112 4 9256 0 0 0 0 0 0 0 0 2940 0 0 0 0 0 0 0 0 0 0 0 2239 0 0 0 0 0 0 0 0 0 0 0 0 400 0 0 0 0 0 74 0 0 0 0 0 0 0 0 0 0 0 0 0
8235 4789
0 0 956 510 0 21 1894 319 1200 2000 77 5 7282 120 32585 2288 4 6797 0 0 0 0 0 0 0 0 17384 0 0 0 0 0 0 0 0 0 0 0 1918 0 0 0 0 0 0 0 0 0 0 0 5160 400 0 0 15000 0 0 29 0 0 0 0 0 0 0 0 0 0 0 0 0
8235
4141 0 0 956 510 0 21 1894 319 2500 2100 71 5 7282 120 32617 1884 4 5594 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1740 0 0 0 0 0 0 0 0 0 0 0 80 400 0 0 0 0 0 51 12923 0 0 0 0 7784 0 0 0 0 0 0 0
8235
3415 0 0 956 510 0 21 1894 319 3300
8235
1467 0 0 956 510 0 21 1894 319 3000
8235
1467 0 0 956 510 0 21 3787 319 3200
6405 250
5 7282 120 32686 1030 4 3056 0 0 0 0 0 0 0 0 16288 0 0 0 0 0 0 0 0 0 0 0 1286 0 0 0 0 0 0 0 0 0 0 0 12800 400 0 0 15000 0 0 205 0 0 0 0 16 0 0 0 2729 4000 1048 0 0
4630 2500
5 7282 120 32637 1636 4 4858 0 0 0 0 0 0 0 0 20384 0 0 0 0 0 0 0 0 0 0 0 1622 0 0 0 0 0 0 0 0 0 0 0 17920 400 0 0 0 0 0 326 0 0 0 0 24 5220 0 0 3326 6500 1047 0 0
3094 4000
5 7282 120 32412 4446 4 13245 0 0 0 0 0 0 0 0 8192 0 0 0 0 0 0 0 0 0 0 0 2678 0 0 0 0 0 0 0 0 0 0 0 17920 400 0 0 0 0 0 395 0 0 0 0 16 0 0 0 4520 6000 785 0 0
9229 1820
5 7282 120 32540 2850 4 8474 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2142 0 0 0 0 0 0 0 0 0 0 0
8208 2080
5 7282 120 32456 3897 4 11600 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2506 0 0 0 0 0 0 0 0 0 0 0
5136 1600
5 7282 120 32456 3897 4 11600 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2506 0 0 0 0 0 0 0 0 0 0 0 30 400 0 0 12000 0 0 215 12923 0 0 0 3382 3120 0 0 0 0 0 0 0
2786
400 0 0 12000 0 0 83 14203 0 0 0 3867 7868 0 0 0 0 0 0 0
1476
400 0 0 15000 0 0 107 12923 0 0 0 0 7799 0 0 0 0 0 0 0
LP6GP
2132
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C. FSSB
APPENDIX
B-65235EN/02
FSSB
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B-65235EN/02
APPENDIX
C. FSSB
C.1
GENERAL
The series SERVO AMPLIFIER UNIT with FSSB is used with the new optical interface FSSB. The specifications of this series amplifier is same that of the current SVU except for the interface. The differences between series amplifier with FSSB and the current model are shown below.
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C. FSSB
APPENDIX
B-65235EN/02
C.2
CONFIGURATION
Model
SVU-12 SVU-20
Oder specification
A06B-6093-H111 A06B-6093-H112
Power P.C.B.
A20B-2100-0130 A20B-2100-0131
Control P.C.B.
A20B-2002-0640 A20B-2002-0640
Remark
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B-65235EN/02
APPENDIX
C. FSSB
C.3
C.3.1
3. After confirming the NC parameters, release the emergency stop condition. READY indicator is not lit. See servo motor tuning screen. 4. READY indicator is lit. 5. Check the servo motor operation. Alarm is issued. See Chapter 5. 6. Refer to "FANUC Parameters." The motor malfunctions. AC SERVO MOTOR Series
ALM
POWER
LINK
DRDY
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C. FSSB
APPENDIX
B-65235EN/02
C.3.2
Pin No.
(1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11) (12) (13) (14) (15) (16) (17) (18) (19) (20) 3.3V
Signal name
Description
+3.3V power (with tolerance of 2%) Phase R motor current signal Phase S motor current signal
Reference voltage Reference voltage Reference voltage +24V power (with tolerance of 10%) +15V power (with tolerance of 10%) -15V power (with tolerance of 10%) +5.1V power (with tolerance of 2%)
NOTE The output voltage reflects directly the actual current in the motor. To observe the output voltage, use an oscilloscope. The voltmeter position of a volot-ohm-milliammeter or other voltmeter cannot be used.
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B-65235EN/02
APPENDIX
C. FSSB
C.4
(2)
Name
Servo check board (with a cable having a provision to prevent incorrect insertion) Servo adaptor board (for i series )
(3)
Connection the servo check board When connecting the check board, always keep the NC switched off. obtain a correct Keep on strapping on the 5 MHz side of clock pin S1 on the check board. Series 16i, 18i, 21i, Power Mate Model Di, Hi
NC
MAIN CPU
Connector CA54
Adaptor cable
TEST 0 CN 0
TEST 1
TEST 2
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C. FSSB
APPENDIX
B-65235EN/02
C.5
Checksum alarmis occurred in pulsecoder (int). n axis : abnormal phase data (int) Abnormal phase data alarm is occurred in pulsecoder (int). n axis : abnormal rev. data (int) Abnormal rev. data alarm is occurred in pulsecoder (int). n axis : abnormal clock (int) Clock alarm is occurred in pulsecoder (int). n axis : soft phase alarm (int) Internal pulsecoder data is abnormal. n axis : broken LED(int) LED of pulsecoder is abnormal. n axis : pulse miss (int) Pulse miss alarm is occurred in pulsecoder (int). n axis : count miss (int) Count miss alarm is occurred in pulsecoder (int). n axis : serial data error (int) Serial data is not received from internal pulsecoder. n axis : data trans. error (int) CRC error or stop bit error is occurred in pulsecoder (int). n axis : broken LED (ext) LED in external pulsecoder is abnormal. n axis abnormal phase (ext lin) Abnormal phase data alarm is occrred in external linea scale. n axis : count miss (ext) Count miss alarm is occurred in external pulsecoder. n axis : pulse miss (ext) Pulse miss alarm is occurred in external pulsecoder. n axis : soft phase alarm (ext) External pulsecoder data is abnormal. n axis : serial data error(ext) Serial data is not received from external pulsecoder. n axis : data trans. error(ext) External pulsecoder data is CRC error or stop bit error.
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B-65235EN/02
APPENDIX
C. FSSB
432
433
436 438
439
440
Servo motor is overheat. This alarm is occurred if the temperature of amplifier is abnormally high. n axis : cnv. lowvolt con./powfault This alarm is occurred if the (LV) control circuit power supply is abnormally low. n axis : cnv. low volt DC link This alarm is occurred if the (DCLV) DC voltage of the voltage main circuit power supply is abnormally low or the outer circuit breakertrips. n axis : softthermal Overheat alarm detected by (OVC) software n axis : inv. abnormal current This alarm is occurred if an (HC) abnormally over-current flows in servo amplifier unit. n axis : overvolt power (HV) This alarm is occurred if the DC voltage of the main circuit power supply is abnormally high. n axis : cnv. ex deceleration pow. This alarm is occurred if: (DCOH) The average regenerative discharge energy is too high (too frequent acceleration /deceleration). n axis : abnormal current offset Current feedback is abnormal. n axis : cnv. cooling fan failure The fan, built into the servo (FAL) amplifier unit, has stopped. n axis : soft disconnection alarm Disconnection alarm detected by software n axis : hard disconnection alarm Disconnection alarm detected by hardware (note1) n axis : hard disconnection (ext) External pulsecoder cable is disconnection. n axis : unmatched feedback Feedback data of pulsecoder alarm is unmatched to it of external pulsecoder.
NOTE Hard disconnection alarm is not occurred to FS16C, FS16i. The possibility of FBAL (STATUS1 bit9=1) External hardware disconnection FBAL (STATUS1 bit9=1, bit7=1, bit4=1) Software disconnection (STATUS1 bit9=1) Count miss error (STATUS1 bit9=1, bit7=1, STATUS2 bit11=1)
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C. FSSB
APPENDIX
B-65235EN/02
461 462
463
464
465
466
467
FSSB communication is open. 1. Optical fiber cable is open or disconnection. 2. Control power supply is shut down. 3. LV alarm of control power supply is occurred. n axis : illegal amp interface Both axes are Fast interface in 2-axes amplifier. n axis : send CNC data failed The slave side amplifier does not receive normal data because of FSSB communication error. n axis : send slave data failed The servo side amplifier does not receive normal data because of FSSB communication error. n axis : write ID data failed The amplifier can not be written maintenance information in maintenance screen. n axis : read ID data failed The amplifier can not read maintenance information in maintenance screen. n axis : motor / amp combination The value of amplifier maximum current is illegal to it of motor maximum current. n axis : illegal setting of axis The amplifer is set to 2 axes in axis setting screen, but the following is not possibility. 1. Learning control (PRM2008#5=1) 2. High current loop (PRM2004#0=1) 3. High interface axis (PRM2005#4=1)
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B-65235EN/02
APPENDIX
C. FSSB
FSSB is not ready at the time of power on. FSSB : error mode FSSB is abnormal. FSSB : number of amps is small The number of amplifier is small to the setting numer. FSSB : configuration error FSSB is configuration error. FSSB : axis setting not complete The axis is not set in auto mode. FSSB : open time out FSSB is not communication. FSSB : ID data not read ID data is not read.
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C. FSSB
APPENDIX
B-65235EN/02
C.6
C.6.1
Outline
In the system using FSSB, we have to set the following parameters for the axis arrangement. (Please set the parameters as usual except the following ones) l No.1023 l No.1905 l No.1910 to 1919 l No.1936, 1937 In order to these parameters, there are 3 ways as follows. 1. Manual setting 1 By setting the parameter in No.1023, the axis arrangement is decided as the default setting. You do not have to need to set the parameter No.1905, 1910 ~ 1919, 1936, 1937. But There is a limitation of function which you can use. 2. Automatic setting By using FSSB setting screen, when you input the amplifier and axis informations, CNC set the parameter No.1905, 1910 to 1919, 1936, 1937 automatically. 3. Manual setting 2 Please input the parameter No.1905, 1910 to 1919, 1936, 1937 by hand after you understand the meaning of each parameter well.
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B-65235EN/02
APPENDIX
C. FSSB
C.6.2
Slave
In the system using FSSB, the Servo Amplifier and Pulse Module are connected to CNC by the optical cable. We call the Servo Amplifier and Pulse Module Slave. Two axes amplifier consists of two slaves and three axes amplifier has three slaves. Each slave is named 1, 2, 3..., 10 from the near side of CNC to the far side of CNC.
CNC
Control axis No. Program axis name No. 1020 1 axis AMP 1 2 3 4 5 6 X Y Z A B C 2 axes 5 M1 1 axis AMP M2 6 7 8 2 axes 3 4 Slave No. 1 2
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C. FSSB
APPENDIX
B-65235EN/02
C.6.3
Manual setting 1
Default setting is available in the following parameter setting. No.1902#0=0 No.1902#1=0 No.1910 ~ 1919=0 (All 0) In the manual setting 1, the slave No. has to correspond to the value in No.1023 of each axis. Therefore, the axis which is set No.1023=1 connects to the first amplifier which is the nearest from the CNC and the axis which is set No.1023=2 connects to the second amplifier.
CNC
Control axis No. Program Servo axis name axis No. 1020 Name No. 1023 2 1 2 3 4 5 6 X Y Z A B C 1 3 4 2 1 axis AMP 5 6 NOTE) M1/M2: Pulse Module 1st/2nd 2 axes B C axes A 1 axis AMP Y Z
Please be careful for the following things. In the manual setting 1, you can not use the following functions and settings. l Pulse Module is not available. Therefore, the outer position detector is not available. l Please set the continuous value in No.1023. For example, you can not set 3 without setting 2 to No.1023. l The following functions are not available. Learning Control High speed current loop control Electrical Gear Box function
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B-65235EN/02
APPENDIX
C. FSSB
C.6.4
Automatic setting
Under the following conditions, you can set the parameter automatically using the FSSB screen. No.1902#0=0 No.1902#1=0 Please do the automatic setting by FSSB setting screen in the folloing procedure. 1. Please set the servo axis No. to No.1023. Please set the number of the axis to No.1023 to correspond to the total number of amplifier axis. 2. 3. 4. 5. 6. Please initialize the servo parameters on the SERVO INITIAL SETTING screen. Please turn off & on the CNCs power. Please push the function key SYSTEM . [FSSB] appears after pushing several times.
When you push the soft key [FSSB], the screen changes the Amplifier setting (or the screen selected before) and the following soft key appears. [ AMP ][ AXIS ][MAINTE][ ][(OPRT)] Please input the axis name which should be connected to the each amplifier in AMPLIFIER SETTING screen. In AMPLIFIER SETTING screen, the information of slave lines up one by one from the top to the bottom. Therefore, please set the control axis name to each amplifier not to input 0 or duplicated value.
7.
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C. FSSB
APPENDIX
B-65235EN/02
AMPLIFIER SETTING No. 1 2 3 4 5 7 AMP A1-L A1-M A2-L A3-L A3-M A4-L SERIES type A A UNIT CUR. SVM 40AL SVM SVU SVM SVM 12A 20A 40A 80A [AXIS] [ 1 ] [ 2 ] [ 3 ] [ 4 ] [ 5 ] [ 6 ] NAME X Y Z A B C
13:11:56 [ ] [ (OPRT)]
8. 9. 10. 11.
Please push the soft key[SETING]. Please push the function key SYSTEM . [FSSB] appears after pushing several times.
When you push the soft key [FSSB], the screen changes the Amplifier setting (or the screen selected before) and the following soft key appears. [ AMP ][ AXIS ][MAINTE][ ][ (OPRT)] Please push the soft key [ AXIS ]. Please set the information of each axis one by one. Please input the setting value in using the following things. In using the outer detector In using 1 DSP/1 axis (For example current loop 125 s, Learning Control etc.) In case of Cs axis In using tandem control
12. 13.
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B-65235EN/02
APPENDIX
C. FSSB
AXIS SETTING AXIS NAME 1 2 3 4 5 6 > MDI **** *** *** [ AMP ] [ AXIS ] [MAINTE] 13:11:56 [ ] [ (OPRT)] X Y Z A B C AMP A1-L A1-M A2-L A3-L A3-M A4-L M1 1 0 0 2 0 0 M2 0 1 0 0 2 0 1DSP 0 0 0 0 0 0 Cs 0 0 0 0 0 0 TNDM 0 0 0 0 0 0
14.
Please push the soft key [SETING]. If you input nothing, please push the soft key [SETING] after pushing[(OPRT)].
By these operations, the parameter No.1023, 1905, 1910 ~ 1919, 1936, 1937 is set automatically. At this time,the parameter No.1902 #1 becomes 1. The setting of axis is finished after CNC power turns off and on. Please be careful for using the Electrical Gear Box Function In case using the Electrical Gear Box Function, please set the parameter No.7771 at first. After that, please do the automatic setting in the FSSB setting screen. Unless you set the parameter No.7771, the automatic setting is not done correctly.
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C. FSSB
APPENDIX
B-65235EN/02
Please set the parameter No.1023. X: 1 Z: 3 Y: 2 A: 4 Please set the servo initial setting to the each axis. Please turn off and on the CNCs power line. Please input AXIS No. of Amplifier setting screen.
AMPLIFIER SETTING No. 1 2 3 4 AMP SERIES A1-L A2-L A3-L A3-M type UNIT SVM SVM SVM SVM PCB ID CUR. 40A 40A 40A 80A [AXIS] [ 2 ] [ 1 ] [ 4 ] [ 3 ] NAME Y X A Z
No. EXTRA
> MDI **** *** *** [ AMP ] [ AXIS ] [MAINTE] 13:11:56 [ ] [ (OPRT)]
Please push the soft key[SETING] Please push the function key SYSTEM . [FSSB] appears after pushing
- 110 -
several times.
B-65235EN/02
APPENDIX
C. FSSB
When you push the soft key [FSSB], the screen changes the Amplifier setting (or the screen selected before) and the following soft key appears. [ AMP ][ AXIS ][MAINTE][ ][ (OPRT)] Please push the soft key[AXIS]. Please push the soft key[(OPRT)] and please push the soft key [SETING]. Setting is completed after turning off and on CNC. [EX 2] In case of Fully-closed loop
A1-L A2-L A3-L A3-M M1 CN1 PM CN2 CNC A A A Z axis A axis X axis Scale Y axis Machine side Scale
3 servo Amplifiers
Please set the parameter No.1023. X : 1 Z : 3 Y : 2 A : 4 Please set the servo initial setting to the each axis. Please turn off and on the CNCs power line. Please input AXIS No. of Amplifier setting screen.
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C. FSSB
APPENDIX
B-65235EN/02
AMPLIFIER SETTING No. 1 2 3 4 AMP A1-L A2-L A3-L A3-M SERIES TYPE A UNIT CUR. SVM SVM SVM SVM PCB ID 0008 DETECTOR (AXES) 40A 40A 40A 80A [AXIS] [ 2 ] [ 1 ] [ 4 ] [ 3 ] NAME Y X A Z
13:11:56 [ ] [ (OPRT)]
Please push the soft key[SETING] Please push the function key SYSTEM . [FSSB] appears after pushing several times.
When you push the soft key [FSSB], the screen changes the Amplifier setting (or the screen selected before) and the following soft key appears. [ AMP ][ AXIS ][MAINTE][ ][ (OPRT)]
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B-65235EN/02
APPENDIX
C. FSSB
> MDI **** *** *** [ AMP ] [ AXIS ] [MAINTE] 13:11:56 [ ] [ (OPRT)]
Please push the soft key[SETING] Please input No.1815#1=1 for Y axis & A axis. Setting is completed after turning off and on CNC.
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C. FSSB
APPENDIX
B-65235EN/02
C.6.5
Manual setting 2
When the following parameters are set, you can set the parameter for each axis by hand. No.1902#0=1, #1=0 In case of manual setting 2, please set the parameter No.1023, 1905, 1910 to 1919, 1936, 1937 after understanding the meaning of these parameters well.
No. 1902 #7 #6 #5 #4 #3 #2 #1 #0 ASIGN FSBMD
Data type : Bit FSBMD Setting FSSB mode selection 0 : Automatic setting mode (By using FSSB setting screen, when the information of axis and amplifier is set, the parameter No.1023, 1905, 1910 to 1919, 1936, 1937 is set automatically.) 1 : Manual setting mode 2 (Please input the parameter No.1023, 1905, 1910 to 1919, 1936, 1937 by hand.) ASIGN Automatic setting of FSSB 0 : is completed. 1 : is not completed. (When the automatic setting is done, this bit becomes 1 automatically.)
No. 1905 #7 #6 #5 #4 #3 #2 #1 #0 FSBSL FSBM2 FSBM1
Data type : Bit FSBSL Select the interface between servo amplifier and servo software 0 : Fast type 1 : Slow type There are two types interface of servo data transfer. One is Fast type, the other is Slow type. Please select the interface to satisfy to the following conditions. l In case of the single axis amplifier, Fast/Slow type is available. l In case of 2 axes amplifier, Fast type can be used for only one axis. Please do not set Fast type for both axes. Slow type can be set for both axes.
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B-65235EN/02
APPENDIX
C. FSSB
l l
In case of 3 axes amplifier, the first and the second axis are the same as 2 axes amplifier, and the third axis is the same as single axis amplifier. Please select Fast type for the axis set the odd to No.1023. In case of the axis for EGB, Learning control, high speed currentloop, Slow type is also available as an exception. Please select Slow type for the axis set the even to No.1023.
CNC
Control axis
1 2 3 4 5 6
X Y Z A B C
F F S S F S 1 axis AMP 1 axis AMP 2 axes B (Fast) C (Slow) X (Fast) 2 axes A (Slow) Y (Fast) Z (Slow)
FSBM1 1st Pulse Module 0 : is not used. 1 : is used. FSBM2 2nd Pulse Module 0 : is not used. 1 : is used. In case of the Automatic setting mode(No.1902#0=0), these parameters are set automatically. In case of the Manual setting mode(No.1902#0=1), please set these parameters by hand. In case of using the Pulse Module, you have to set Connector No.(parameter is No.1936, 1937), too.
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C. FSSB
APPENDIX
B-65235EN/02
No. 1910 1911 1912 1913 1914 1915 1916 1917 1918 1919
The value of Address Conversion Table for Slave1 (ATR) The value of Address Conversion Table for Slave2 (ATR) The value of Address Conversion Table for Slave3 (ATR) The value of Address Conversion Table for Slave4 (ATR) The value of Address Conversion Table for Slave5 (ATR) The value of Address Conversion Table for Slave6 (ATR) The value of Address Conversion Table for Slave7 (ATR) The value of Address Conversion Table for Slave8 (ATR) The value of Address Conversion Table for Slave9 (ATR) The value of Address Conversion Table for Slave10 (ATR)
Data type : Byte Data range : 0 to 7, 16, 40, 48 Please set the value of address conversion table for slave 1~10. The amplifier or pulse module connected to CNC by the optical cable is called Slave. This slave No. is named 1~10 from near side of CNC to the far side of CNC. Two axes amplifier consists of two slaves and Three axis amplifier has three slaves. This parameter is set as follows. - In case of amplifier : Please set (the value of No.1023-1). - In case of Pulse Module : Please set 16 for the first Pulse Module(near from CNC) and 48 for the second Pulse Module(far from CNC). - In case of no slave : Please set 40. In case using Electrical Gear Box function, please set it as follows. EGB dummy axis designated in No.7771 does not need the amplifier. At this time, please do not set 40, but set(the value of No.1023-1) for the EGB dummy axis.
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B-65235EN/02
APPENDIX
C. FSSB
In case of the Automatic setting mode(No.1902#0=0), these parameters are set automatically. In case of the Manual setting mode(No.1902#0=1), please set these parameters by hand. - Example of axis configration & parameter setting
CNC Slave No.
Control No. Axis Name Servo Axis No. 1020 No. No. 1023 X Y Z A B C 1 3 4 2 5 6 M1 1 axis AMP M2 2 axes 1 axis AMP 2 1 2 3 4 5 6 axes 3 4 5 6 7 8 9 10 2 3 4 16 5 48 40 40 Y Z B (M1) C (M2) (None) (None) 1 2 ATR No.1910 ~1919 0 1 AXIS
X A
CNC
Control No. Axis Name Servo Axis No. 1020 No. No. 1023 X Y Z A B C 1 3 4 2 5 6 1 axis AMP M2 1 axis AMP 2 axes
Slave No.
1 2 3 4 2 axes M1
AXIS
1 2 3 4 5 6
5 6 7 8 9 10
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C. FSSB
APPENDIX
B-65235EN/02
Connector number of 1st Pulse Module Connector number of 2nd Pulse Module
Data type : Byte Data range : 0 to 7 In case using the Pulse module, please set the value which subtracts 1 from the connector No. of each axis. Therefore, the No. of connector 1-8 coresponds to 0-7. You have to set the parameter No.1905#6, #7, too. Please set 0 for the axis where the Pulse module is not used. You can use any connectors, but please use the connector from the small No. So, please do not use the Connector No.3 without using No.2. Example)
Control Axis X Y Z A B C 1st Connector No. 1 Not used Not used Not used 2 Not used 2nd Connector No. Not used 2 1 Not used Not used 3 No. 1936 No. 1937 No. 1905 (#7, #6) 0, 1 1, 0 1, 0 0, 0 0, 1 1, 0
0 0 0 0 1 0
0 1 0 0 0 2
In case of the Automatic setting mode(No.1902#0=0), these parameters are set automatically. In case of the Manual setting mode(No.1902#0=1), please set these parameters by hand.
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B-65235EN/02
APPENDIX
C. FSSB
No.
1902#0 FSBMD 1 1910 0 1911 1 1023 1 3 4 2 5 6 1912 2 1905#0 FSBSL 0 0 1 1 0 1 1913 3 1914 4 1905#6 FSBM1 1 0 0 0 1 0 1915 16 1916 5 1905#7 FSBM2 0 1 1 0 0 1 1917 48 1936 0 0 0 0 1 0 1918 40 1919 40 No. 1905 (#7, #6) 0 1 0 0 0 2
No.
No. X Y Z A B C
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B-65235EN/02
Index
Daily inspection of AC servo motors, 81
<A>
AC servo motor maintenance, 79 Actions to be taken on each alarm, 61 Alarm number brief descriptions, 56 Alarm number in Series 0-C (SERVO ALARMS), 57 Alarm number in Series 16,18,20,21 (SERVO ALARMS), 58 Automatic setting, 107
<F>
Feedback disconnected alarm, 65 FSSB, 94
<I>
iseries initial setting of parameter, 104 Initializing servo parameters, 37 Invalid servo parameter setting parameters, 67
<B>
Basic configuration, 30
<L> <C>
Check pin board, 47, 97 Checking the control power supply voltage, 49 Checking the motor instantaneous current, 49 Configuration, 29, 96 Confirmation procedure, 46 Confirming the line voltage and power requirements, 34 Connecting the battery for an absolute pulse coder, 77 Connecting the power supply, 34 Connecting the separate regenerative discharge unit, 36 Connection to the servo amplifier unit, 98 Current conversion failure alarm, 63 Leakage current and selecting a ground fault interrupter, 35 LED indications and meanings, 60
<M>
Major components, 31 Manual setting 1, 106 Manual setting 2, 114 Motor overheat alarm, 66 Motor parameter list, 90
<O>
Operation confirmation method, 45, 97 Overload alarm, 65 Overview of the start-up procedure,33
<D>
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B-65235EN/02
INDEX
<P>
Periodic inspection of series motor, 84 Pulse coder communication error alarm, 75 Pulse coder error alarm, 74
<R>
Receiving and keeping AC servo motors, 80 Replacement parts specification, 87 Replacing the fuse, 76 Replacing the pulse coder, 86 Rotation speed data error alarm, 75
<S>
Servo adjustment screen, 64 Servo amplifier unit, 37, 60 Servo amplifier unit front panel, 89 Servo check board , 50, 99 Servo software, 64 Slave, 105 Start-up procedure, 32
<T>
Troubleshooting and recovery, 100 Troubleshooting and recovery procedures, 59
- 121 -
01
Nov., 96
03
Oct., 97
SAFETY PRECAUTIONS (FANUC AC SERVO MOTOR series) is modified. SAFETY PRECAUTIONS (FANUC AC SERVO AMPLIFIER series) is modified. FANUC SERVO MOTOR AMPLIFIER series with FSSB MAINTENANCE MANUAL (B65235EN/0102 is added.
200
D No part of this manual may be reproduced in any form. D All specifications and designs are subject to change without notice.