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AC SERVO MOTOR Alpha series Parameter manual Page 346

Parameter manual
6. PARAMETER LIST B-65150E/04
− 340 −
Motor model
2-0SP/3 1-0SP/3 0S/3 5S/3 10S/3 20S/3 30S/3 αL3 αL6 αL9
Motor specification
0371 0373 0313 0514 0317 0318 0319 0561 0562 0564
Motor model
α1/3 α2/3 (HRV) (HRV) (HRV)
Motor specification
0371 0373
99.04.30
Motor type No.
61 62 63 64 65 66 67 68 69 70
Symbol
Parameter No.
FS15-B
FS16-C
∼
PM
PM-E
1808 2003 1003 00001000 00001000 00001000
00001000
00001000 00001000 00001000 00001000 00001000 00001000
1809 2004 1004 00000110 00000110 01000110
01000110
01000110 01000110 01000110 00000110 00000110 00000110
1883 2005 1005 00000000 00000000 00000000
00000000
00000000 00000000 00000000 00000000 00000000 00000000
1884 2006 1006 01000100 01000100 01000100
01000100
01000100 01000100 01000100 00000000 00000000 00000000
1954 2010 1010 00000000 00000000 00000000
00000000
00000000 00000000 00000000 00000000 00000000 00000000
1955 2011 1011 00100000 00100000 00000000
00000000
00000000 00000000 00000000 00100000 00100000 00100000
1956 2012 1012 00000000 00000000 00000000
00000000
00000000 00000000 00000000 00000000 00000000 00000000
1751 2211 1211 00000010 00000110 00000000
00000000
00000000 00000000 00000000 00000000 00000000 00000000
PK1 1852 2040 1040 390 530 600 672 1090 542 708 757 855 737
PK2 1853 2041 1041 −1053 −1653 −1600 −1574 −2360 −1377 −1811 −3394 −3610 −2588
PK3 1854 2042 1042 −2480 −2490 −2517 −2526 −2625 −2654 −2664 −2652 −2676 −2673
PK1V 1855 2043 1043 111 128 126 136 287 305 346 18 17 35
PK2V 1856 2044 1044 −997 −1146 −1127 −1215 −2571 −2734 −3097 −158 −155 −309
PK3V 1857 2045 1045 0 0 0 0 0 0 0 0 0 0
PK4V 1858 2046 1046 −8235 −8235 −8235 −8235 −8235 −8235 −8235 −8235 −8235 −8235
POA1 1859 2047 1047 3806 3311 3366 3124 1476 1388 1226 −2395 −2455 − 1227
BLCMP 1860 2048 1048 0 0 0 0 0 0 0 0 0 0
DPFMX 1861 2049 1049 0 0 0 0 0 0 0 0 0 0
POK1 1862 2050 1050 956 956 956 956 956 956 956 956 956 956
POK2 1863 2051 1051 510 510 510 510 510 510 510 510 510 510
RESERV 1864 2052 1052 0 0 0 0 0 0 0 0 0 0
PPMAX 1865 2053 1053 21 21 21 21 21 50 50 21 21 21
PDDP 1866 2054 1054 1894 1894 3787 3787 3787 3787 3787 1894 1894 1894
PHYST 1867 2055 1055 319 319 319 319 319 319 319 319 319 319
EMFCMP 1868 2056 1056 2800 2520 2520 2520 3780 5400 6000 2000 2000 1240
PVPA 1869 2057 1057 2330 −6156 2330 2330 2330 2330 2200 0 0 −10249
PALPH 1870 2058 1058 57 −1200 57 57 57 57 57 0 0 −800
PPBAS 1871 2059 1059 5 5 5 5 5 5 5 5 5 5
TQLIM 1872 2060 1060 7282 7282 7282 7282 7282 7282 7282 7282 7282 7282
EMFLMT 1873 2061 1061 120 120 120 120 120 120 120 120 120 120
POVC1 1877 2062 1062 32623 32519 32712
32694
32578 32495 32470 32693 32696 32607
POVC2 1878 2063 1063 1811 3112 706 924 2381 3410 3723 940 894 2010
TGALMLV 1892 2064 1064 4 4 4 4 4 4 4 4 4 4
POVCLMT 1893 2065 1065 5377 9256 2094 2740 7075 10144 11081 2787 2653 5970
PK2VAUX 1894 2066 1066 0 0 0 0 0 0 0 0 0 0
FILTER 1895 2067 1067 0 0 0 0 0 0 0 0 0 0
FALPH 1961 2068 1068 0 0 0 0 0 0 0 0 0 0
VFFLT 1962 2069 1069 0 0 0 0 0 0 0 0 0 0
ERBLM 1963 2070 1070 0 0 0 0 0 0 0 0 0 0
PBLCT 1964 2071 1071 0 0 0 0 0 0 0 0 0 0
SFCCML 1965 2072 1072 0 0 0 0 0 0 0 0 0 0
PSPTL 1966 2073 1073 0 0 0 0 0 0 0 0 0 0
AALPH 1967 2074 1074 1680 8194 4000 2100 2520 4000 0 16384 28672 20480
MODEL 1968 2075 1075 0 0 0 0 0 0 0 0 0 0
WKAC 1969 2076 1076 0 0 0 0 0 0 0 0 0 0
OSCTPL 1970 2077 1077 0 0 0 0 0 0 0 0 0 0
PDPCH 1971 2078 1078 0 0 0 0 0 0 0 0 0 0
PDPCL 1972 2079 1079 0 0 0 0 0 0 0 0 0 0
DPFEX 1973 2080 1080 0 0 0 0 0 0 0 0 0 0
DPFZW 1974 2081 1081 0 0 0 0 0 0 0 0 0 0
BLENDL 1975 2082 1082 0 0 0 0 0 0 0 0 0 0
MOFCTL 1976 2083 1083 0 0 0 0 0 0 0 0 0 0
SDMR1 1977 2084 1084 0 0 0 0 0 0 0 0 0 0
SDMR2 1978 2085 1085 0 0 0 0 0 0 0 0 0 0
RTCURR 1979 2086 1086 1706 2239 1064 1218 1814 2344 2450 1228 1198 1798
TDPLD 1980 2087 1087 0 0 0 0 0 0 0 0 0 0
MCNFB 1981 2088 1088 0 0 0 0 0 0 0 0 0 0
BLBSL 1982 2089 1089 0 0 0 0 0 0 0 0 0 0
ROBSTL 1983 2090 1090 0 0 0 0 0 0 0 0 0 0
ACCSPL 1984 2091 1091 0 0 0 0 0 0 0 0 0 0
ADFF1 1985 2092 1092 0 0 0 0 0 0 0 0 0 0
VMPK3V 1986 2093 1093 0 0 0 0 0 0 0 0 0 0
BLCMP2 1987 2094 1094 0 0 0 0 0 0 0 0 0 0
AHDRTL 1988 2095 1095 0 0 0 0 0 0 0 0 0 0
RADUSL 1989 2096 1096 0 0 0 0 0 0 0 0 0 0
SMCNT 1990 2097 1097 0 0 0 0 0 0 0 0 0 0
DEPVPL 1991 2098 1098 50 0 0 0 0 15 0 0 0 0
ONEPSL 1992 2099 1099 400 400 400 400 400 400 400 400 400 400
INPA1 1993 2100 1100 0 0 0 0 0 0 0 0 0 0
INPA2 1994 2101 1101 0 0 0 0 0 0 0 0 0 0
DBLIM 1995 2102 1102 15000 15000 0 0 0 0 0 15000 15000 15000
ABVOF 1996 2103 1103 0 0 0 0 0 0 0 0 0 0
ABTSH 1997 2104 1104 0 0 0 0 0 0 0 0 0 0
TRQCST 1998 2105 1105 51 74 247 435 541 866 1079 219 450 450
LP24PA 1999 2106 1106 0 0 0 0 0 0 0 0 0 0
VLGOVR 1700 2107 1107 0 0 0 0 0 0 0 0 0 0
RESERV 1701 2108 1108 0 0 0 0 0 0 0 0 0 0
BELLTC 1702 2109 1109 0 0 0 0 0 0 0 0 0 0
MGSTCM 1703 2110 1110 0 0 0 0 0 0 0 64 64 16
DETQLM 1704 2111 1111 7715 7780 0 0 0 0 0 2650 2620 5160
AMRDML 1705 2112 1112 0 0 0 0 0 0 0 0 0 0
NFILT 1706 2113 1113 0 0 0 0 0 0 0 0 0 0
NINTCT 1735 2127 1127 785 2300 0 0 0 0 0 2000 2500 2500
MFWKCE 1736 2128 1128 0 3000 0 0 0 0 0 0 0 2500
MFWKBL 1752 2129 1129 0 3088 0 0 0 0 0 0 0 2586
LP2GP 1753 2130 1130 0 0 0 0 0 0 0 0 0 0
LP4GP 1754 2131 1131 0 0 0 0 0 0 0 0 0 0
LP6GP 1755 2132 1132 0 0 0 0 0 0 0 0 0 0
PHDLY1 1756 2133 1133 7710 7710 0 0 0 0 0 0 0 0
PHDLY2 1757 2134 1134 12830 12830 0 0 0 0 0 0 0 0
DGCSMM 1782 2159 1159 0 0 0 0 0 0 0 0 0 0
TRQCUP 1783 2160 1160 0 0 0 0 0 0 0 0 0 0
RESERV 1784 2161 1161 0 0 0 0 0 0 0 0 0 0
POVC21 1785 2162 1162 0 0 0 0 0 0 0 0 0 0
POVC22 1786 2163 1163 0 0 0 0 0 0 0 0 0 0
POVCLMT2
1787 2164 1164 0 0 0 0 0 0 0 0 0 0
MAXCRT 1788 2165 1165 12 12 40 80 85 135 135 40 85 85
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Contents Summary of AC SERVO MOTOR Alpha series Parameter manual

  • Page 1GE Fanuc Automation Computer Numerical Control Products Alpha Series AC Servo Motor Parameter Manual B-65150EN/04 Japan 1999
  • Page 2Warnings and notices for GFLE-003 this publication Warning 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 wh
  • Page 3B-65150E/04 DEFINITION OF WARNING, CAUTION, AND NOTE DEFINITION OF WARNING, CAUTION, AND NOTE 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, suppleme
  • Page 4B-65150E/04 CONTENTS DEFINITION OF WARNING, CAUTION, AND NOTE ................................. s-1 1 OVERVIEW .............................................................................................. 1 1.1 SERVO SOFTWARE AND MODULES SUPPORTED BY EACH NC MODEL ..................................
  • Page 5CONTENTS B-65150E/04 4.5 MACHINE-RESONANCE SUPPRESSION FUNCTION....................................................................... 112 4.5.1 Machine Speed Feedback Function............................................................................................................ 112 4.5.2 Obser
  • Page 6B-65150E/04 CONTENTS 4.17.4 Servo Alarm 2-axis Simultaneous Monitor Function ................................................................................. 255 4.17.5 Motor Feedback Sharing Function ..................................................................................................
  • Page 7B-65150E/04 1. OVERVIEW 1 OVERVIEW This manual describes the servo parameters of the following NC models using an α servo system. The descriptions include the servo parameter start-up and adjustment procedures. The meaning of each parameter is also explained. −1−
  • Page 81. OVERVIEW B-65150E/04 1.1 SERVO SOFTWARE AND MODULES SUPPORTED BY EACH NC MODEL Series and edition of applicable servo NC product name Module software Series 9046/A(01) and subsequent editions (Supporting standard and high-speed Series 0-MODEL C positioning) Serial axis board Series 15-MODEL A Ser
  • Page 9B-65150E/04 1. OVERVIEW NOTE 1 For some models of the Series 21, Power Mate-D, and Power Mate-F, the NC software and servo software are integrated. The NC software of the following series and editions includes servo software supporting the α servo motor. Series21-TA Series 8866/001B and subsequent e
  • Page 101. OVERVIEW B-65150E/04 1.2 ABBREVIATIONS OF THE NC MODELS COVERED BY THIS MANUAL The models covered by this manual, and their abbreviations are : NC product name Abbreviations FANUC Series 0-MODEL C Series 0-C Series 0 FANUC Series 15-MODEL A Series 15-A FANUC Series 15-MODEL B Series 15-B Series 1
  • Page 11B-65150E/04 1. OVERVIEW 1.3 RELATED MANUALS The following ten kinds of manuals are available for FANUC SERVO MOTOR α/β series. In the table, this manual is marked with an asterisk (*). Table 1. Related manuals of SERVO MOTOR α/β series Document name Document Major contents Major usage number • Speci
  • Page 121. OVERVIEW B-65150E/04 Other manufactures’ products referred to in this manual * IBM is registered trademark of International Business Machines Corporation. * MS-DOS and Windows are registered trademarks of Microsoft Corporation. * 486SX and 486DX2 are registered trademarks of Intel corporation. Al
  • Page 13B-65150E/04 2. SETTING α SERIES SERVO PARAMETERS 2 SETTING α SERIES SERVO PARAMETERS 2.1 INITIALIZING SERVO PARAMETERS 2.1.1 Before Servo Parameter Initialization Before starting servo parameter initialization, confirm the following: <1> NC model (ex.: Series 15-B) <2> Servo motor model (ex.: α 6/20
  • Page 142. SETTING α SERIES SERVO PARAMETERS B-65150E/04 2.1.2 Parameter Initialization Flow On the servo setting and servo adjustment screens, set the following: In emergency stop state, switch on NC. Initialization bits 00000000 (except Power Mate-E) (Note) 00011000 (for Power Mate-E) Motor No. See (4) in
  • Page 15B-65150E/04 2. SETTING α SERIES SERVO PARAMETERS 2.1.3 Servo Parameter Initialization Procedure (1) Switch on the NC in an emergency stop state. Enable parameter writing (PWE = 1). (2) Initialize servo parameters on the servo setting screen. For a Power Mate with no CRT, specify a value for an item
  • Page 162. SETTING α SERIES SERVO PARAMETERS B-65150E/04 When the following screen appears, move the cursor to the item you want to specify, and enter the value directly. Power Mate Power Mate-E Servo set 01000 N0000 X axis Z axis INITIAL SET BITS 00001010 00001010 No. 2000 No. 1000 Motor ID No. 16 16 2020
  • Page 17B-65150E/04 2. SETTING α SERIES SERVO PARAMETERS α series servo motor Motor model α1/3000 α2/2000 α2/3000 α2.5/3000 α3/3000 Motor 0371 0372 0373 0374 0123 specification Motor type No. 61 46 62 84 15 Motor model α6/2000 α6/3000 α12/2000 α12/3000 α22/1500 Motor 0127 0128 0142 0143 0146 specification M
  • Page 182. SETTING α SERIES SERVO PARAMETERS B-65150E/04 αM series servo motor Motor model αM2/3000 αM2.5/3000 αM3/3000 αM6/3000 αM9/3000 Motor 0376 0377 0161 0162 0163 specification Motor type No. 98 99 24 25 26 Motor model αM22/3000 αM30/3000 αM40/3000FAN αM40/3000 (360A amplifier (130A amplifier driving)
  • Page 19B-65150E/04 2. SETTING α SERIES SERVO PARAMETERS α series servo motor Servo software 9 9 9 9 9 9 9 9 9 9 9 Motor series 0 0 0 0 0 0 0 0 0 0 0 model and 4 4 6 6 7 8 8 9 A 6 6 motor type number 1 6 0 6 0 0 1 0 0 4 5 α1/3000 61 A B M A C A C A A E A α2/2000 46 A B M A C A C A A E A α2/3000 62 A B M A C
  • Page 202. SETTING α SERIES SERVO PARAMETERS B-65150E/04 αHV series servo motor Servo software 9 9 9 9 9 9 9 9 9 9 9 Motor series 0 0 0 0 0 0 0 0 0 0 0 model and 4 4 6 6 7 8 8 9 A 6 6 motor type number 1 6 0 6 0 0 1 0 0 4 5 α3HV 1 W B M A A A A F A α6HV 2 W B M A A A A F A α12HV 3 A B M A C A C A A E A α22H
  • Page 21B-65150E/04 2. SETTING α SERIES SERVO PARAMETERS Reference) β series servo motor Servo software 9 9 9 9 9 9 9 9 9 9 9 Motor series 0 0 0 0 0 0 0 0 0 0 0 model and 4 4 6 6 7 8 8 9 A 6 6 motor type number 1 6 0 6 0 0 1 0 0 4 5 β0.5/3000 13 A B M A C A C A A E A β1/3000 35 A B M A C A C A A E A β2/3000
  • Page 222. SETTING α SERIES SERVO PARAMETERS B-65150E/04 Example of setting For detection in 1 µm units, specify as follows: Number of necessary Ball screw lead position pulses F⋅FG (mm/rev) (pulses/rev) 10 10000 1/100 20 20000 2/100 or 1/50 30 30000 3/100 Example of setting If the machine is set to detecti
  • Page 23B-65150E/04 2. SETTING α SERIES SERVO PARAMETERS (9) Specify the number of velocity pulses and the number of position pulses. Full-closed Semi-closed Serial liner Serial rotary Parallel type scale scale Command 1 0.1 1 0.1 1 0.1 1 0.1 unit (µm) Initialization b0 = 0 b0 = 0 b0 = 0 b0 = 0 b0 = 1 b0 =
  • Page 242. SETTING α SERIES SERVO PARAMETERS B-65150E/04  Series 15, 16, 18, 20, 21, Power Mate #7 #6 #5 #4 #3 #2 #1 #0 1807 PFSE − ↑ Must be specified only for Series 15. PFSE (#3) The separate position detector is: 0: Not used 1: Used CAUTION This parameter is used only for Series 15. #7 #6 #5 #4 #3 #2 #
  • Page 25B-65150E/04 2. SETTING α SERIES SERVO PARAMETERS Example of setting α pulse coder and semi-closed loop (1-µm detection) Necessary number of Ball screw lead Reference Grid width position pulses (mm/revolution) counter (mm) (pulse/revolution) 10 10000 10000 10 20 20000 20000 20 30 30000 30000 30 When
  • Page 262. SETTING α SERIES SERVO PARAMETERS B-65150E/04 CAUTION In rotation axis control for the Series 16, 18, and Power Mate, continuous revolution in the same direction will result in an error if the result of the following calculation is other than an integer, even if the reference counter setting is a
  • Page 27B-65150E/04 2. SETTING α SERIES SERVO PARAMETERS (12) Switch the NC off and on again. This completes servo parameter initialization. If an invalid servo parameter setting alarm occurs, go to Subsec. 2.1.4. If a servo alarm related to pulse coders occurs for an axis for which a servo motor or amplifi
  • Page 282. SETTING α SERIES SERVO PARAMETERS B-65150E/04  Power Mate−E #7 #6 #5 #4 #3 #2 #1 #0 0017 APCX APCX (#0) An absolute position detector is: 0: Not used 1: Used 2. After making sure that the battery for the pulse coder is connected, switch the NC on. 3. A request to return to the reference These st
  • Page 29B-65150E/04 2. SETTING α SERIES SERVO PARAMETERS 2.1.4 Setting Servo Parameters When a Separate Detector for the Serial Interface Is Used (1) Overview When a separate detector of the serial output type is used, there is a possibility that the detection unit becomes finer than the detection unit curr
  • Page 302. SETTING α SERIES SERVO PARAMETERS B-65150E/04 (4) Setting parameters Linear type In addition to the conventional settings for a separate detector (bit 1 of parameter No. 1815 (Series 15, 16, and 18), bit 3 of parameter No. 1807 (Series 15), and if needed, FSSB), note the following parameters: [Fl
  • Page 31B-65150E/04 2. SETTING α SERIES SERVO PARAMETERS Calculate the number of position pulses. [Number of position pulses] Parameter No. 2024 Number of position pulses = the amount of movement per motor revolution (mm)/detection unit of the detector (mm) = 16 mm/0.0001 = 160000 If the number of position
  • Page 322. SETTING α SERIES SERVO PARAMETERS B-65150E/04 Rotary type In addition to the conventional settings for a separate detector (bit 1 of parameter No. 1815 (Series 15, 16, and 18), bit 3 of parameter No. 1807 (Series 15), and if needed, FSSB), note the following parameters: [Flexible feed gear] Param
  • Page 33B-65150E/04 2. SETTING α SERIES SERVO PARAMETERS First, calculate the parameters for the flexible feed gear. [Flexible feed gear] Parameter Nos. 2084 and 2085 [Flexible feed gear N/M] = (Amount of table movement (degrees) per detector revolution)/(detection unit (degrees))/1,000,000 = 360 degrees/0.
  • Page 342. SETTING α SERIES SERVO PARAMETERS B-65150E/04 (5) Reference position return when a serial type separate detector is used as an absolute-position detector When a serial type separate detector is used as an absolute-position detector, the phase-Z position must be passed once before a reference posi
  • Page 35B-65150E/04 2. SETTING α SERIES SERVO PARAMETERS 2.1.5 Actions for Invalid Servo Parameter Setting Alarms (1) Overview When a setting value is beyond an allowable range, or when an overflow occurs during internal calculation, an invalid parameter setting alarm is issued. This section explains the pr
  • Page 362. SETTING α SERIES SERVO PARAMETERS B-65150E/04 (For the Series 15-B) Check the value in No. 1023 for the axis where a parameter error occurred. According to the value, set a parameter as follows: Axis for which an odd value is set in parameter No. 1023: No. 1726 = 20480 Axis for which an even valu
  • Page 37B-65150E/04 2. SETTING α SERIES SERVO PARAMETERS Then, open the memory screen by pressing an appropriate soft key. The upper and lower bytes of a parameter error detail number are displayed in the following addresses: Axis for which an odd value is set in parameter No. 1023: > 1C1 (upper byte) > 1C0
  • Page 382. SETTING α SERIES SERVO PARAMETERS B-65150E/04 NOTE Basically, 4-digit data is indicated as alarm detail information. However, 3- or 5-digit data may be indicated in the following cases: 1 When the diagnosis screen is displayed, three-digit data is indicated. Add 0 to the top of the three digits,
  • Page 39B-65150E/04 2. SETTING α SERIES SERVO PARAMETERS Parameter No. Parameter No. Alarm detail No. Cause Action (Series 15) (Series 16, etc.) 0764 1969 2076 The value set in the parameter This parameter is not used at 0765 shown to the left overflowed. present. Set 0. 0783 1971 2078 With the closed-loop
  • Page 402. SETTING α SERIES SERVO PARAMETERS B-65150E/04 Parameter No. Parameter No. Alarm detail No. Cause Action (Series 15) (Series 16, etc.) related to current control not caused. overflows. 1294 1752 2129 When a large value is set as the When the value set in the 1295 number of velocity pulses, the par
  • Page 41B-65150E/04 2. SETTING α SERIES SERVO PARAMETERS Supplementary 1: Setting the number of position pulses For a separate detector with a fine resolution, the number of position feedback pulses may exceed 13100 even when initialization bit 0 is set to 1. In such cases, use the position feedback pulse c
  • Page 422. SETTING α SERIES SERVO PARAMETERS B-65150E/04 Parameter No. Series Series Series Power Parameter modification method 0-C 15 16, etc. Mate-E 8x76 1969 2076 1076 (Value to be set originally)/E − 1736 2128 − (Value to be set originally)/E − 1752 2129 − (Quotient of the value to be set originally/256
  • Page 43B-65150E/04 2. SETTING α SERIES SERVO PARAMETERS Supplementary 4: Preventing an overflow in the position gain An overflow in the feed-forward coefficient may be able to be prevented by using the position gain setting range expansion function. (For series other than the Series 0-C and 15-A) #7 #6 #5
  • Page 442. SETTING α SERIES SERVO PARAMETERS B-65150E/04 (6) Invalid parameter setting alarm caused by setting an invalid motor number The table given below lists the valid motor numbers for each series. If a number beyond the indicated range is set, an invalid parameter setting alarm is issued. (In this ca
  • Page 45B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT 3 α SERIES PARAMETER ADJUSTMENT − 39 −
  • Page 463. α SERIES PARAMETER ADJUSTMENT B-65150E/04 3.1 SERVO ADJUSTMENT SCREEN Display the servo adjustment screen, and check the position error, actual current, and actual speed on the screen. Using the keys on the NC, enter values according to the procedure explained below. (The Power Mate DPL/MDI does
  • Page 47B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT <9> <20> <10> <21> <11> <22> <12> <13> Fig. 3.1 (b) Diagnosis screen <2> <14> <5> <15> <6> <16> <8> <17> <18> <7> Fig. 3.1 (c) Series 15i servo adjustment screen <9> <19> <10> <20> <11> <21> <12> <22> <13> Fig. 3.1 (d) Series 15i servo diagnosis screen −
  • Page 483. α SERIES PARAMETER ADJUSTMENT B-65150E/04 The items on the servo adjustment screen correspond to the following parameter numbers: Table 3.1 Correspondence between the servo adjustment screen and diagnosis screen, and parameters Series 15-A, B, Series 16, 18, Series 0-C PowerMate-E 15i 20, 21 <1>
  • Page 49B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT 3.2 ACTIONS FOR ALARMS If a servo alarm is issued, detail alarm information is displayed on the diagnosis screen (Figs. 3.1 (b) and (d)). Based on this information, check the cause of the servo alarm and take appropriate action. For alarms with no action
  • Page 503. α SERIES PARAMETER ADJUSTMENT B-65150E/04 (1-2) Type B interface Alarm 1 Alarm 5 Alarm 2 Description Action OVL LVA OVC HCA HVA DCA FBA MCC FAN ALD EXP 1 0 0 Overcurrent alarm (PSM) 1 0 1 Overcurrent alarm (SVM) 1 1 0 1 Overcurrent alarm 1 (software) 1 Excessive voltage alarm 1 Excessive regenera
  • Page 51B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT CAUTION When an emergency stop is released with the power line to the motor disconnected, an overcurrent alarm (software) may be issued. If this poses a problem, set the following parameter bit to 1: Bit 0 of parameter No. 1747 (Series 15) or bit 0 of par
  • Page 523. α SERIES PARAMETER ADJUSTMENT B-65150E/04 CAUTION For alarms with no action number indicated, the pulse coder may be defective. Replace the pulse coder. (2-2) Separate serial detector coder These alarms are identified from alarm 7. The meanings of the bits are as follows: Alarm 7 Description Acti
  • Page 53B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT (3) Alarms related to serial communication These alarms are identified from alarms 4 and 8. Alarm 4 Alarm 8 Description DTE CRC STB PRM DTE CRC STB SPD 1 1 Communication alarm in serial pulse coder 1 1 1 Communication alarm in separate serial pulse coder
  • Page 543. α SERIES PARAMETER ADJUSTMENT B-65150E/04 #7 #6 #5 #4 #3 #2 #1 #0 No. 1808 No. 8X03 TGAL No. 2003 No. 1003 TGAL (#1) 1: The level of detecting the software disconnection alarm is set by parameter. No. 1892 No. 8X64 Software disconnection alarm level No. 2064 No. 1064 Standard setting 4: Alarm is
  • Page 55B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT #7 #6 #5 #4 #3 #2 #1 #0 No. 1960 − RVRSE No. 2018 − RVRSE (#0) The signal direction for the separate detector is: 0: Not reversed. 1: Reversed. When there is a large torsion between the motor and separate detector, this alarm may be issued when an abrupt
  • Page 563. α SERIES PARAMETER ADJUSTMENT B-65150E/04 3.3 PROCEDURES FOR GAIN ADJUSTMENT AND VIBRATION-DAMPING CONTROL 3.3.1 Gain Adjustment Procedure Adjusting the position gain and velocity loop gain to the optimum state leads to improvements in control performance and disturbance suppression performance.
  • Page 57B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT *1 The velocity loop proportional high-speed processing function restricts the use of auxiliary functions that suppress vibration in the stop state. If vibration in the stop state poses a problem, select the acceleration feedback function. <4> Setting for
  • Page 583. α SERIES PARAMETER ADJUSTMENT B-65150E/04 <6> Determining the velocity loop gain oscillation limit: After performing the preparatory steps described previously, determine the velocity loop oscillation limit. When adjusting the velocity loop gain, perform rapid traverse with full machine strokes,
  • Page 59B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT 3.3.2 Vibration in the Stop State Vibration generated only in the stop state is caused by the decreased load inertia in a backlash. Adjust the auxiliary functions for suppressing stop-time vibration. Vibration may be generated only in the stop state also
  • Page 603. α SERIES PARAMETER ADJUSTMENT B-65150E/04 Function 3: Function for changing the proportional gain in the stop state (1) Series 15i, 15-B, 16, 18, 20, 21, and Power Mate #7 #6 #5 #4 #3 #2 #1 #0 No. 1958 − K2VC No. 2016 − K2VC (#3) 1: Enables the function for changing the proportional gain in the s
  • Page 61B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT 3.3.3 Vibration during Travel Vibration is generated during travel by various causes. So, a most appropriate method must be selected after observing the vibration status carefully. <1> Is an auxiliary function set to increase the oscillation limit for the
  • Page 623. α SERIES PARAMETER ADJUSTMENT B-65150E/04 (Reference: Parameter numbers) For details, see Chapter 4, "Servo Function Details." Function 1: TCMD filter No. 1895 No. 8X67 TCMD filter coefficient No. 2067 No. 1067 Function 2: Dual position feedback function #7 #6 #5 #4 #3 #2 #1 #0 No. 1909(i,B) No.
  • Page 63B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT No. 1702 − Fine acceleration/deceleration time constant No. 2109 − 3.3.4 Cumulative Feed When the time from the detection of a position error until the compensation torque is output is too long, a cumulative feed occurs during low-speed feed. Improvement
  • Page 643. α SERIES PARAMETER ADJUSTMENT B-65150E/04 3.3.5 Overshoot When the machine is operated at high speed or with a detection unit of 0.1 µm or less, the problem of overshoots may arises. Select a most appropriate preventive method depending on the cause of an overshoot. <1> When the velocity loop gai
  • Page 65B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT 3.4 ADJUSTING PARAMETERS FOR HIGH SPEED AND HIGH PRECISION 3.4.1 Level-up HRV Control Adjustment Procedure (1) Overview With standard systems of the i Series CNC (Series 15i, 16i, and 18i), the current control period can be changed from the conventional v
  • Page 663. α SERIES PARAMETER ADJUSTMENT B-65150E/04 Conventional control Level-up HRV control Fig. 3.4.1 (b) Example of effects of level-up HRV control (R100 mm, 10000 mm/min, without quadrant protrusion compensation) (2) Series and editions of applicable servo software Series 90A0/E(05) and subsequent edi
  • Page 67B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT Feed- forward(*5) Command from the NC Fine Position + High- Vibration Level-up HRV acceleration/ gain(*6) + speed suppression control(*1) deceleration velocity filter(*2) (*4) loop(*3) Fig. 3.4.1 (c) Level-up HRV control adjustment Table 3.4.1 Standard pa
  • Page 683. α SERIES PARAMETER ADJUSTMENT B-65150E/04 (4) Details of adjustment <1> Current loop period setting and current loop gain setting According to the settings of "1) Level-up HRV control" in Table 3.4.1, set the parameters for current control. Set the same period for the two axes controlled by the s
  • Page 69B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT (Adjustment procedure) • Operate the machine at a relatively low feedrate (F1000 to F10000). • Increase the velocity loop gain gradually until a slight vibration sound occurs at feed time. If an excessively large velocity loop gain is set at this time, vi
  • Page 703. α SERIES PARAMETER ADJUSTMENT B-65150E/04 <4> Fine acceleration/deceleration function setting When level-up HRV control is used, a high position loop gain and a high velocity loop gain are set. So, when a greater acceleration/deceleration is specified, vibration dependent on the distribution peri
  • Page 71B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT <6> Position gain adjustment A specified feedrate is calculated as follows: Specified feedrate = (position gain) × (positional deviation) + (feed-forward) Therefore, if a deviation occurs between the command and actual position, a higher position gain mak
  • Page 723. α SERIES PARAMETER ADJUSTMENT B-65150E/04 <4> For the setting of each channel on the F9 screen of SD, select TCMD Measurement. For ampere setting, set a maximum current value of the amplifier. <5> In this state, accelerate/decelerate the motor, and obtain a waveform to check that the correct acce
  • Page 73B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT 3.4.2 Cutting Feed/Rapid Traverse Switchable Function (1) Overview For cutting figure improvement, the setting of higher position loop and velocity loop gains is useful. In general, however, a higher maximum feedrate and higher acceleration for accelerati
  • Page 743. α SERIES PARAMETER ADJUSTMENT B-65150E/04 [Applicable servo software] Series 9080/P(16) and subsequent editions (Series 16-C, 18-C) Series 16-MC: BOB1/E and subsequent editions Series 16-TC: B1B1/C and subsequent editions Series 18-MC: BDB1/C and subsequent editions Series 18-TC: BEB1/C and subse
  • Page 75B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT [Applicable servo software] Series 9080/J(10) and subsequent editions (Series 16-C, 18-C): The series/edition of the CNC software is the same as <1>. Series 9090/C(03) and subsequent editions (Series 16i, 18i, 21i, Power Mate i. The 320C52 servo card is r
  • Page 763. α SERIES PARAMETER ADJUSTMENT B-65150E/04 [Parameter] No. 1779 TCMD filter coefficient in rapid traverse No. 2156 Usually TCMD filter No. 2067 (Series 16), No. 1895 (Series 15) Cutting feed Rapid traverse When the cutting TCMD filter TCMD filter feed/rapid traverse No. 2156 (Series 16), No. 1779
  • Page 77B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT 3.4.3 Servo Parameter Adjustment Procedure for Achieving High Speed and High Precision (1) Overview This section describes the procedure for determining the digital servo parameters used for advanced preview control, high-precision contour control, and AI
  • Page 783. α SERIES PARAMETER ADJUSTMENT B-65150E/04 Table 3.4.3 (a) Standard settings of parameters for high-speed and high-precision machining Function Series 16 Series 15 Standard setting Velocity loop PI 2003 B3 1808 B3 1 Feed-forward enable 2005 B1 1883 B1 1 Velocity feedback acquisition 1 ms 2006 B4 1
  • Page 79B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT (4) Feed-forward coefficient adjustment (using an arc of R10/F4000) [Purpose of adjustment] In a conventional position control loop where feed-forward control is not exercised, a velocity command is output based on (positional deviation) × (position loop
  • Page 803. α SERIES PARAMETER ADJUSTMENT B-65150E/04 Table 3.4.3 (b) Codes for starting and ending each mode Start End FS16, 18, 21 + Advanced preview control G08P1 G08P0 FS16 + High-precision contour control FS15B + High-precision contour control G05P10000 G05P0 FS15i + Fine HPCC FS16i + AI contour control
  • Page 81B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT Fig. 3.4.3 (c) Effect of velocity loop gain Fig. 3.4.3 (d) Effect of velocity loop gain Velocity loop gain: 200% Velocity loop gain: 300% Advanced preview feed-forward coefficient: 98% Advanced preview feed-forward coefficient: 99% FAD time constant: 24 m
  • Page 823. α SERIES PARAMETER ADJUSTMENT B-65150E/04 [Actual adjustment] Make a velocity feed-forward coefficient adjustment by using a square figure with four 1/4 arcs of a 5-mm radius. In this adjustment, disable the velocity clamp function based on an arc radius. (Disable the function, or in the example
  • Page 83B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT Protrusion and cut due to a delay on the Y-axis Protrusion and cut due to a delay on the X-axis The figure display is 5 mm wide. The error is 50 µm in size. Fig. 3.4.3 (g) Velocity feed-forward adjustment Fig. 3.4.3 (h) Velocity feed-forward adjustment Ve
  • Page 843. α SERIES PARAMETER ADJUSTMENT B-65150E/04 When the enlarged range is viewed, it is seen that the machine is vibrating in the arc areas. This vibration is caused by a low velocity loop gain. To reduce this vibration, two methods are available. One method increases the velocity loop gain. (This met
  • Page 85B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT (6) Adjustment of the parameters for arc radius based feedrate clamping [Purpose of adjustment] As mentioned above, velocity feed-forward coefficient adjustment can improve a velocity loop response delay, thus reducing figure errors in areas where specifi
  • Page 863. α SERIES PARAMETER ADJUSTMENT B-65150E/04 When the feedrate at an arc is reduced using the arc radius based feedrate clamp function, figure precision improves. However, a longer machining time is required as a side effect. Fig. 3.4.3 (m) shows a tangent feedrate and processing time when the arc r
  • Page 87B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT The figure errors at the entries and exits of each arc The figure display is 5 m m wide. area have been The error is 10 µ m in size. reduced. Fig. 3.4.3 (o) Arc radius based feedrate clamping (7) Adjustment of an allowable feedrate difference of the feedr
  • Page 883. α SERIES PARAMETER ADJUSTMENT B-65150E/04 [Actual adjustment procedure] Execute the following program, and measure the actual path. Start and end point G91; Corner 4 G08P1; G01X10.F4000; Corner 1 G01Y-20.; G01X-20.; G01Y20.; Corner 2 G01X10.; Corner 3 G08P0; G04X3.; M99; Fig. 3.4.3 (p) Programmed
  • Page 89B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT Feedrate along the X-axis Acceleration/deceleration with the time constant for fine Reduced corner feedrate acceleration/deceleration or acceleration/deceleration after interpolation Feedrate along the Y-axis Acceleration/deceleration at the acceleration
  • Page 903. α SERIES PARAMETER ADJUSTMENT B-65150E/04 3.4.4 High-Speed Positioning Adjustment Procedure (1) Overview This section describes the adjustment procedure for high-speed positioning required with a punch press and PC board drilling machine. (2) Adjustment procedure Make a high-speed positioning adj
  • Page 91B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT <2> Set a highest possible velocity loop gain according to Subsec. 3.3.1, "Gain Adjustment Procedure." VCMD TCMD TCMD fluctuation is eliminated. Fig. 3.4.4 (c) After velocity loop gain adjustment <3> Set a switch speed of 1500 (15 rpm) with the position g
  • Page 923. α SERIES PARAMETER ADJUSTMENT B-65150E/04 <4> Set a highest possible position gain. While viewing the VCMD waveform, make an adjustment so that the overshoot value lies within a requested precision. After setting a position gain, perform rapid traverse for a long distance to check that low- frequ
  • Page 93B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT 3.4.5 Rapid Traverse Positioning Adjustment Procedure (1) Overview The fine acceleration/deceleration function applies a filter to each axis in the servo software to reduce a shock associated with acceleration/deceleration. By combining the fine accelerat
  • Page 943. α SERIES PARAMETER ADJUSTMENT B-65150E/04 (Rapid traverse positioning when fine acceleration/deceleration is used) For further reduction in the time required for rapid traverse positioning, a delay due to a position gain needs to be minimized. For this purpose, feed-forward needs to be fully util
  • Page 95B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT The measurement data of Fig. 3.4.5 (e) has been obtained under the condition below. Fine acceleration/deceleration and feed-forward are not used. • Rapid traverse rate: 20000 mm/min • Rapid traverse time constant: 150 ms • Position gain: 30/s • Travel dis
  • Page 963. α SERIES PARAMETER ADJUSTMENT B-65150E/04 <2> Velocity feed-forward adjustment When feed-forward is enabled, the time required for positioning can be reduced, but a swell may occur due to insufficient velocity loop response immediately before machining stops. A swell can be reduced by an increase
  • Page 97B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT <3> Fine adjustment of feed-forward Reduce the time required for positioning by making a fine adjustment of the feed-forward coefficient. If the feed-forward coefficient is not sufficiently large (Fig. 3.4.5 (h)), increase the feed-forward coefficient by
  • Page 984. SERVO FUNCTION DETAILS B-65150E/04 4 SERVO FUNCTION DETAILS − 92 −
  • Page 99B-65150E/04 4. SERVO FUNCTION DETAILS 4.1 LIST OF SERVO FUNCTIONS Servo software series 9 9 9 9 9 9 9 9 9 9 9 Related 0 0 0 0 0 0 0 0 0 0 0 section in 4 4 6 6 6 6 7 8 8 9 A this manual Function name 1 6 0 4 5 6 0 0 1 0 0 [Servo initialization functions] Flexible feed gear A A C B A A A A C C A 2.1 P
  • Page 1004. SERVO FUNCTION DETAILS B-65150E/04 Servo software series 9 9 9 9 9 9 9 9 9 9 9 Related 0 0 0 0 0 0 0 0 0 0 0 section in 4 4 6 6 6 6 7 8 8 9 A this manual Function name 1 6 0 4 5 6 0 0 1 0 0 Advanced preview control A A C - - A A A C C A 4.6.3 (RISC based high-precision contour control) Advanced p
  • Page 101B-65150E/04 4. SERVO FUNCTION DETAILS Servo software series 9 9 9 9 9 9 9 9 9 9 9 Related 0 0 0 0 0 0 0 0 0 0 0 section in 4 4 6 6 6 6 7 8 8 9 A this manual Function name 1 6 0 4 5 6 0 0 1 0 0 Tandem control function - - - - - - - K - C A 4.17.4 (servo alarm two-axis monitor function) Tandem control
  • Page 1024. SERVO FUNCTION DETAILS B-65150E/04 4.2 HRV CONTROL (1) Overview HRV control is one of the digital servo current control methods. Compared with the conventional control methods, HRV control can reduce a delay that occurs in current control at the time of high-speed rotation. As the result, HRV con
  • Page 103B-65150E/04 4. SERVO FUNCTION DETAILS (3) Improved functions available with HRV control The use of servo software supporting HRV control replaces the current control method with HRV control as described above, and can improve control performance. In addition, the functions below can be optimized by
  • Page 1044. SERVO FUNCTION DETAILS B-65150E/04 Example of improving OVC protection characteristics Lower line: Conventional characteristics Upper line: Improved characteristics (The alarm suppression level in the medium time range is improved.) NOTE In the long time range (60 s and up), the alarm level is lo
  • Page 105B-65150E/04 4. SERVO FUNCTION DETAILS Table 4.2 OVC parameters Conventional setting (standard) Setting for improvement ID No. MOTOR POVC1 POVC2 POVCLMT POVC1 POVC2 POVCLMT 1 α3HV 32686 1031 3059 32738 379 2247 2 α6HV 32637 1639 4866 32720 603 3575 3 α12HV 32568 2505 7445 32694 922 5470 4 α22HV(40A)
  • Page 1064. SERVO FUNCTION DETAILS B-65150E/04 Table 4.2 OVC parameters Conventional setting (standard) Setting for improvement ID No. MOTOR POVC1 POVC2 POVCLMT POVC1 POVC2 POVCLMT 68 αL3 32693 940 2787 32740 345 2048 69 αL6 32696 894 2653 32742 329 1949 70 αL9 32607 2010 5970 32709 740 4386 84 α2.5/3000 325
  • Page 107B-65150E/04 4. SERVO FUNCTION DETAILS 4.3 LEVEL-UP HRV CONTROL (1) Overview With standard systems of the i Series CNC (Series 15i, 16i, and 18i)(*), the current control period can be changed from the conventional value 250 µs to 125 µs by employment of a high-speed DSP for servo control. With a redu
  • Page 1084. SERVO FUNCTION DETAILS B-65150E/04 (3) Setting parameters <1> To set a current control period of 125 µs, set the parameters as follows: #7 #6 #5 #4 #3 #2 #1 #0 1809 − Conventional DLY1 DLY0 TIB1 DLY2 TRW1 TRW0 TIB0 TIA0 2004 − setting 0 0 0 0 0 1 1 0 Setting for level-up HRV control DLY1 DLY0 TIB
  • Page 109B-65150E/04 4. SERVO FUNCTION DETAILS 4.4 VIBRATION SUPPRESSION FUNCTION IN THE STOP STATE 4.4.1 250 µsec Acceleration Feedback Function (1) Overview The acceleration feedback function is used to control velocity loop oscillation by using motor speed feedback signal multiplied by the acceleration fe
  • Page 1104. SERVO FUNCTION DETAILS B-65150E/04 (2) Series and editions of applicable servo software Series 9041/A(01) and subsequent editions (Series 0-C, 15-A) Series 9046/A(01) and subsequent editions (Series 0-C, 15-A) Series 9060/C(03) and subsequent editions (Series 15-B, 16-A, 18-A, 20, 21, Power Mate)
  • Page 111B-65150E/04 4. SERVO FUNCTION DETAILS (2) Series and editions of applicable servo software • Velocity loop control method supported by PI only Series 9066/B(01) and subsequent editions (Series 20, 21, Power Mate) Series 9070/G(07) and subsequent editions (Series 15-B, 16-B, 18-B) • Velocity loop con
  • Page 1124. SERVO FUNCTION DETAILS B-65150E/04 (5) Caution and notes on use CAUTION Depending on the resonance frequency and resonance strength of the machine system, the use of this function may result in machine resonance. If this occurs, do not use this function. NOTE 1 When this function is used, the obs
  • Page 113B-65150E/04 4. SERVO FUNCTION DETAILS 4.4.3 Function for Changing the Proportional Gain in the Stop State (1) Overview The velocity gain or load inertia ratio is generally increased if a large load inertia is applied to a motor, or to improve the response. An excessively large velocity gain may caus
  • Page 1144. SERVO FUNCTION DETAILS B-65150E/04 (3) Setting parameters  Series 15-B, 15i, 16, 18, 20 #7 #6 #5 #4 #3 #2 #1 #0 1958 − K2VC 2016 − K2VC (#3) 1: The function for changing the proportional gain in the stop state is used. 1730 − Function for changing the proportional gain in the stop state: Stop 21
  • Page 115B-65150E/04 4. SERVO FUNCTION DETAILS  Series 0-C, 15-A #7 #6 #5 #4 #3 #2 #1 #0 1953 (Series 15-A) 8X09 K2VC − − K2VC (#4) 1: The function for changing the proportional gain in the stop state is used. 1982 (Series 15-A) 8X89 Function for changing the proportional gain in the stop state: Stop − − ju
  • Page 1164. SERVO FUNCTION DETAILS B-65150E/04 4.4.4 N Pulse Suppression Function (1) Overview Even a very small movement of the motor in the stop state may be amplified by a proportional element of the velocity loop, thus resulting in vibration. The N pulse suppression function suppresses this vibration in
  • Page 117B-65150E/04 4. SERVO FUNCTION DETAILS Motor position The function works at this point. N pulse suppression Stop position level parameter Point A (setting standard value is 1 pulse) Point B Torque by proportional element Time Fig. 4.4.4 (b) N pulse suppression function disabled (The N pulse suppressi
  • Page 1184. SERVO FUNCTION DETAILS B-65150E/04 4.5 MACHINE-RESONANCE SUPPRESSION FUNCTION 4.5.1 Machine Speed Feedback Function (1) Overview In many full-closed systems, the machine position is detected by a separate detector and positioning was controlled according to the detected positioning information. T
  • Page 119B-65150E/04 4. SERVO FUNCTION DETAILS (3) Control block diagram Fig. 4.5.1 is a control block diagram PK1V: velocity loop integral gain Machine speed PK2V: velocity loop proportional gain α : machine speed feedback gain Machine PK2V × α 1/(JL • s) 1/s Spring coupling MCMD + VCMD + + − Kp PK1V/s + PK
  • Page 1204. SERVO FUNCTION DETAILS B-65150E/04 (5) Series and editions of applicable servo software The following series and editions support the normalization function. Series 9041/A(01) and subsequent editions (Series 0-C, 15-A) Series 9060/N(14) and subsequent editions (Series 15-B, 16-A, 18-A, 20, 21, Po
  • Page 121B-65150E/04 4. SERVO FUNCTION DETAILS  Series 15, 16, 18, 20, 21, and Power Mate (Servo soft series 9060, 9066, 9070, 9080, 9081, 9090, and 90A0) ✰ Flexible feed gear (No. 2084, 2085, 1977, 1978) = 1/1 (Setting range: 1 to 100 or −1 to −100) (Standard setting) When the normalization function MCNFB
  • Page 1224. SERVO FUNCTION DETAILS B-65150E/04 4.5.2 Observer Function (1) Overview The observer is used to eliminate the high-frequency component and to stabilize a velocity loop when a mechanical system resonates at high frequency of several hundred Hertz. The observer is a status observer that estimates t
  • Page 123B-65150E/04 4. SERVO FUNCTION DETAILS The disturbance torque works on the actual motor. There is a time lag in the current loop. The POA1 value does not completely coincide with the actual motor. This is why the motor’s actual velocity differs from the motor speed estimated by an observer. The obser
  • Page 1244. SERVO FUNCTION DETAILS B-65150E/04 (4) Note The parameter is initially set to such a value (standard setting) that the cutoff frequency of the filter becomes 30 Hz. With this setting, the effect of filtering becomes remarkable at resonance frequencies above the range of 150 Hz to 180 Hz. To chang
  • Page 125B-65150E/04 4. SERVO FUNCTION DETAILS (6) Series and editions of applicable servo software Function for disabling the observer in the stop state Series 9060/W(23) and subsequent editions (Series 15-B, 16-A, 18-A, 20, 21, Power Mate) Series 9066/B(02) and subsequent editions (Series 20, 21, Power Mat
  • Page 1264. SERVO FUNCTION DETAILS B-65150E/04 4.5.3 Torque Command Filter (1) Overview The torque command filter applies a primary low-pass filter to the torque command. If the machine resonates at a high frequency of one hundred Hz and over, this function eliminates resonance at such high frequencies. (2)
  • Page 127B-65150E/04 4. SERVO FUNCTION DETAILS (4) Proper use of the observer and torque command filter The torque command filter is set in the forward direction. Therefore, there are fewer bad influences exerted upon the entire velocity control system than the observer that filters a feedback signal. If the
  • Page 1284. SERVO FUNCTION DETAILS B-65150E/04 (6) Cutting feed/rapid traverse switchable torque command filter With this function, the torque command filter coefficient can be switched between rapid traverse and cutting feed to improve figure precision during cutting and increase a maximum feedrate and maxi
  • Page 129B-65150E/04 4. SERVO FUNCTION DETAILS (2) Control method The following block diagram shows the general method of dual position feedback control: Separate ER1 Position gain Motor detector MCMD + + ER + Velocity Σ Kp Amplifier control − + − Velocity feedback Conversion coefficient Position feedback (f
  • Page 1304. SERVO FUNCTION DETAILS B-65150E/04 (3) Series and editions of applicable servo software Series 9041/A(01) and subsequent editions (Series 0-C, 15-A) Series 9060/C(03) and subsequent editions (Series 15-B, 16-A, 18-A, 20, 21, Power Mate) Series 9064/B(02) and subsequent editions (Power Mate-E) Ser
  • Page 131B-65150E/04 4. SERVO FUNCTION DETAILS 1971 8X78 Dual position feedback conversion coefficient (numerator) 2078 1078 1972 8X79 Dual position feedback conversion coefficient (denominator) 2079 1079 [Setting value] Reduce the following fraction and use the resulting irreducible fraction. Number of posi
  • Page 1324. SERVO FUNCTION DETAILS B-65150E/04 1974 8X81 Dual position feedback zero-point amplitude 2081 1081 [Setting value] Zero width (µm)/minimum detection unit for full-closed mode [Increment system] Minimum detection unit (µm/p) for full-closed mode Positioning is performed so that the difference in t
  • Page 133B-65150E/04 4. SERVO FUNCTION DETAILS (5) Zero-width setting for a machine with a large backlash or twist When servo software earlier than the series and editions indicated below is used, and the dual position feedback function (or hybrid function) is used for an axis where a machine backlash of abo
  • Page 1344. SERVO FUNCTION DETAILS B-65150E/04 (6) Improvement in zero-width setting (a) Series and editions of applicable servo software Series 9080/K(11) and subsequent editions (Series 15-B, 16-C, 18-C) Series 9090/C(03) and subsequent editions (Series 16i, 18i, 21i, Power Mate i) Series 90A0/A(01) and su
  • Page 135B-65150E/04 4. SERVO FUNCTION DETAILS (a) Series 9041 Number of position feedback pulses per motor revolution n (Value after multiplication of F⋅FG) Reduce the following fraction: = d 1,000,000 n Calculate A = 31,250 × . Which range is value A in? d A < 2000 2000 ≤ A < 8192 A ≥ 8192 B = A × 16 B=A×4
  • Page 1364. SERVO FUNCTION DETAILS B-65150E/04 (b) Series 9060, 9064, 9065, 9070, 9080, 9081, 9090, and 90A0 Number of position feedback pulses per motor revolution n (Value after multiplication of F⋅FG) Reduce the following fraction: = d 1,000,000 n Is A = 8,000,000 × an integer? d No Yes Obtain the smalles
  • Page 137B-65150E/04 4. SERVO FUNCTION DETAILS (2) Control method The following figure shows the block diagram for vibration-damping control: Position command + Velocity + Torque command Kp Motor Machine compensator + − − − + Conversion Filter coefficient − Vibration- damping control gain Speed transfer erro
  • Page 1384. SERVO FUNCTION DETAILS B-65150E/04 (Example 1) With a 5 mm/rev ball screw, 0.5 µm/pulse separate detector (value obtained from a quadrupling circuit), and a detection unit of 1 µm, the DMR setting is 2. Then, Set value = 10,000 × (2/4)/8 = 625 When a flexible feed gear (F⋅FG) is used (In the case
  • Page 139B-65150E/04 4. SERVO FUNCTION DETAILS 4.5.6 Vibration Suppression Filter Function (1) Overview A filter function for removing high-speed vibration is added. With this function, high-speed resonance can be removed to set a higher velocity loop gain. (2) Series and editions of applicable servo softwar
  • Page 1404. SERVO FUNCTION DETAILS B-65150E/04 4.5.7 Current Loop 1/2PI Function (1) Overview To improve servo performance in high-speed high-precision machining, high-speed positioning, ultrahigh-precision positioning, and so forth, a velocity loop gain as high as possible needs to be set stably. To set a h
  • Page 141B-65150E/04 4. SERVO FUNCTION DETAILS (4) Setting parameters <1> Enabling the current loop 1/2PI function at all times #7 #6 #5 #4 #3 #2 #1 #0 1743 − 1/2PI 2203 − 1/2PI (#2) 1: To enable the current loop 1/2PI function <2> Enabling the current loop 1/2PI function for cutting only (a) Series and edit
  • Page 1424. SERVO FUNCTION DETAILS B-65150E/04 #7 #6 #5 #4 #3 #2 #1 #0 1742 − PIALY 2202 − PIALY (#2) 1: To enable the current loop 1/2PI function at all times (When this function is used together with the cutting feed/rapid traverse velocity loop gain switch function) #7 #6 #5 #4 #3 #2 #1 #0 1743 − 1/2PI 22
  • Page 143B-65150E/04 4. SERVO FUNCTION DETAILS 4.6 SHAPE-ERROR SUPPRESSION FUNCTION 4.6.1 Feed-forward Function (1) Principle α•s Smoothing VFF • s + + + Position Position gain Velocity loop Servo motor command − + + α: Feed-forward coefficient (0 to 1) VFF: Velocity loop feed-forward coefficient Fig. 4.6.1
  • Page 1444. SERVO FUNCTION DETAILS B-65150E/04 The shape error in the direction of the radius during circular cutting is as shown in Fig. 4.6.1 (b) below. Start point ∆R2 (Error as a result of acceleration and deceleration after interpolation.) ∆R1 (Error as a result of servo series delay.) Program path Comm
  • Page 145B-65150E/04 4. SERVO FUNCTION DETAILS (3) Setting parameters <1> Enable PI control and the feed-forward function. #7 #6 #5 #4 #3 #2 #1 #0 1808 8X03 PIEN 2003 1003 PIEN (#3) 1: To enable PI control #7 #6 #5 #4 #3 #2 #1 #0 1883 8X05 FEED 2005 1005 FEED (#1) 1: To enable the feed-forward function <2> S
  • Page 1464. SERVO FUNCTION DETAILS B-65150E/04 <4> Switch the NC off, attach the servo check board, then switch the NC on again. ⇒ See Sec. 4.19. Run a program to operate the axis for cutting feed at maximum feedrate. Under this condition, check whether the VCMD waveform observed between channels 1 and 3 on
  • Page 147B-65150E/04 4. SERVO FUNCTION DETAILS 4.6.2 Advanced Preview Feed-forward Function (1) Overview The advanced preview feed-forward function is part of the advanced preview control function. It enables high-speed high-precision machining. The function creates feed-forward data according to a command w
  • Page 1484. SERVO FUNCTION DETAILS B-65150E/04 (3) Setting parameters <1> Set the following parameters in the same way as for conventional feed-forward control. #7 #6 #5 #4 #3 #2 #1 #0 1808 − PIEN 2003 − PIEN (#3) 1: PI control is selected. #7 #6 #5 #4 #3 #2 #1 #0 1883 − FEED 2005 − FEED (#1) 1: The feed-for
  • Page 149B-65150E/04 4. SERVO FUNCTION DETAILS Because of this configuration, the function can improve the feed- forward coefficient up to about 1 without impact and also reduce figure error. NOTE For the Series 15-A and 15-B, set bit 2 of parameter No. 1811 to 1, in addition to making the above setting. (Th
  • Page 1504. SERVO FUNCTION DETAILS B-65150E/04 4.6.3 RISC Feed-forward Function (1) Overview The feed-forward system is used during high-precision contour control based on RISC (HPCC mode) in order to shorten the interpolation cycle, improving the performance of high-speed, high-precision machining. (2) Seri
  • Page 151B-65150E/04 4. SERVO FUNCTION DETAILS (4) RISC feed-forward function (type 2) (a) Overview An improvement has been made to further increase servo response when the distribution period is 4 ms, 2 ms, or 1 ms in the HPCC mode. (b) Series and editions of applicable servo software (For a distribution pe
  • Page 1524. SERVO FUNCTION DETAILS B-65150E/04 4.6.4 Backlash Acceleration Function (1) Overview If the influence of backlash and friction is large in the machine, a delay may be produced on reversal of motor, thus resulting in quadrant protrusion on circular cutting. This is a backlash acceleration function
  • Page 153B-65150E/04 4. SERVO FUNCTION DETAILS #7 #6 #5 #4 #3 #2 #1 #0 1884 8X06 FCBL 2006 − FCBL (#0) 1: Do not reflect the backlash compensation in positions. Generally, for a machine in full-closed mode, backlash compensation is not reflected in positions, so this bit is set. (This parameter is applicable
  • Page 1544. SERVO FUNCTION DETAILS B-65150E/04 #7 #6 #5 #4 #3 #2 #1 #0 1953 8X09 BLCU 2009 − BLCU (#6) 1: To enable the backlash acceleration function during cutting feed only This function is effective when the backlash function is used. When this function is used with the backlash function, the applicable
  • Page 155B-65150E/04 4. SERVO FUNCTION DETAILS 4.6.5 Two-stage Backlash Acceleration Function (1) Overview When the machine reverses the direction of feed, two types of delay are likely to occur; one type due to friction in the motor and the other due to friction in the machine. The two-stage backlash accele
  • Page 1564. SERVO FUNCTION DETAILS B-65150E/04 (2) Series and editions of applicable servo software Series 9060/Q(17) and subsequent editions (Series 15-B, 16-A, 18-A, 20, 21, Power Mate) 9066/A(01) and subsequent editions (Series 20, 21, Power Mate) 9070/F(06) and subsequent editions (Series 15-B, 16-B, 18-
  • Page 157B-65150E/04 4. SERVO FUNCTION DETAILS <4> Adjusting the velocity loop gain Enable PI control, and increase the velocity loop gain (load inertia ratio) as much as possible. (For velocity loop gain adjustment, see Subsec. 3.3.1.) * By setting a high velocity loop gain, the response of the motor improv
  • Page 1584. SERVO FUNCTION DETAILS B-65150E/04 (Related parameters) #7 #6 #5 #4 #3 #2 #1 #0 1957 − TDOU 2015 1015 TDOU (#5) When an estimated disturbance value is output to the check board: 1: The estimated disturbance value is output to the torque command output channel. 0: The torque command output channel
  • Page 159B-65150E/04 4. SERVO FUNCTION DETAILS <7> Adjusting the stage 1 acceleration Specify the following parameters. #7 #6 #5 #4 #3 #2 #1 #0 1957 − TDOU 2015 − TDOU (#5) 0: To output an estimated disturbance torque 1860 − Stage 1 backlash acceleration amount (%) 2048 − [Unit of data] % (Backlash accelerat
  • Page 1604. SERVO FUNCTION DETAILS B-65150E/04 Before two-stage backlash acceleration adjustment (A delay in reverse motor rotation causes a protrusion at each area of quadrant switching.) First, set the value of [Typical setting]. Then, while viewing the arc figure, adjust the stage 1 acceleration amount pa
  • Page 161B-65150E/04 4. SERVO FUNCTION DETAILS 1975 − Stage 2 start/end parameter (detection unit) 2082 − [Unit of data] Detection unit [Typical setting] 10 (For a detection unit of 1 µm) 100 (For a detection unit of 0.1 µm) 1982 − Stage 2 end scale factor 2089 − [Unit of data] In units of 0.1 [Valid data ra
  • Page 1624. SERVO FUNCTION DETAILS B-65150E/04 Before start/end parameter adjustment Set the following: Start/end parameter = Value of [Typical setting] Stage 2 acceleration amount = 500 Then, adjust the start/end parameter while viewing the timing of stage 2 acceleration from the arc figure. Start/end param
  • Page 163B-65150E/04 4. SERVO FUNCTION DETAILS NOTE Note that the two-stage backlash acceleration cannot be used together with the backlash stop function. <8> Stage 2 acceleration adjustment The two-stage backlash acceleration function has effect even if only stage 1 is used. However, a protrusion may linger
  • Page 1644. SERVO FUNCTION DETAILS B-65150E/04 <9> Stage 1 and stage 2 acceleration override adjustment Stage 1 and stage 2 acceleration amounts can be overridden according to the circular acceleration. When using the stage 1 acceleration override function, set the following. (Normally, this setting is not n
  • Page 165B-65150E/04 4. SERVO FUNCTION DETAILS #7 #6 #5 #4 #3 #2 #1 #0 1960 − OVR8 2018 − OVR8 (#2) 1: The format of the stage 2 acceleration override is determined. 1725 − Stage 2 acceleration override 2114 − [Valid data range] 0 to 32767 When the stage 2 acceleration override function is used, the stage 2
  • Page 1664. SERVO FUNCTION DETAILS B-65150E/04 4.6.6 Static Friction Compensation Function (1) Overview When a machine, originally in the stop state, is activated, the increase in speed may be delayed by there being a large amount of static friction. The backlash acceleration function (see Subsec. 4.6.4 and
  • Page 167B-65150E/04 4. SERVO FUNCTION DETAILS #7 #6 #5 #4 #3 #2 #1 #0 1883 8X05 SFCM 2005 1005 SFCM (#7) 1: The static friction compensation function is enabled. <2> Set adjustment parameters. 1964 8X71 Compensation count 2071 1071 [Valid data range] 0 to 32767 [Standard setting] 10 1965 8X72 Static frictio
  • Page 1684. SERVO FUNCTION DETAILS B-65150E/04 4.7 OVERSHOOT COMPENSATION (1) Setting parameters #7 #6 #5 #4 #3 #2 #1 #0 1808 8X03 OVSC 2003 1003 OVSC (#6) 1: To enable the overshoot compensation function 1857 8X45 Velocity loop incomplete integral gain (PK3V) 2045 1045 [Valid data range] 0 to 32767 [Typical
  • Page 169B-65150E/04 4. SERVO FUNCTION DETAILS (3) Explanation (a) Servo system configuration Fig. 4.7 (a) shows the servo system configuration. Fig. 4.7 (b) shows the velocity loop configuration. + NC Kp Velocity loop 1/s MCMD − VCMD Position feedback Kp: Position gain Fig. 4.7 (a) Digital servo system conf
  • Page 1704. SERVO FUNCTION DETAILS B-65150E/04 t0 t1 Move command 1 (MCMD) 1 Position Feedback Speed command Kp (VCMD) Velocity Feedback PK1V × 1 pulse Integrator TCMD1 Friction in the PK1V × 1 pulse machine system TCMD2 Torque command PK1V × 2 pulses (TCMD) Fig. 4.7 (c) Response to 1 pulse movement commands
  • Page 171B-65150E/04 4. SERVO FUNCTION DETAILS (c) Response to 1 pulse movement commands (i) Torque commands for standard settings (when there is no overshoot) Torque command (TCMD) TCMD1 Static friction PK1V × 1 pulse Non-static friction TCMD2 PK2V × 1 pulse Time Fig. 4.7 (d) Torque commands (when there is
  • Page 1724. SERVO FUNCTION DETAILS B-65150E/04 (iii) Torque command when overshoot compensation is used Function bit OVSC = 1 (Overshoot compensation is valid) Parameter PK3V: around 30000 to 25000 (Incomplete integral coefficient) (Example) when PK3V=32000 time constant approx. 42 msec when PK3V=30000 time
  • Page 173B-65150E/04 4. SERVO FUNCTION DETAILS (iv) Torque command when the improved type overshoot compensation is used Function bit OVSC = 1 (Overshoot compensation is valid) Parameter PK3V: around 32000 (Incomplete integral coefficient) OSCTP: around 20 (Number of incomplete integral) When overshooting wi
  • Page 1744. SERVO FUNCTION DETAILS B-65150E/04 (4) Improving overshoot compensation for machines using a 0.1-µm detection unit (a) Overview Conventional overshoot compensation performs imperfect integration only when the error is 0. A machine using a 0.1-µm detection unit, however, has a very short period in
  • Page 175B-65150E/04 4. SERVO FUNCTION DETAILS (5) Overshoot compensation type 2 (a) Overview For a machine using, for example, 0.1-µm detection units, the use of the conventional overshoot compensation function may generate minute vibrations when the machine stops, even if the parameter for the number of in
  • Page 1764. SERVO FUNCTION DETAILS B-65150E/04 Overshoot compensation (Conventional type: When OVS1 = 0) Very small vibration occurs because incomplete integration and complete integration are repeated. Positional deviation Valid compensation level Time Compensation Compensation Compensation enabled (incompl
  • Page 177B-65150E/04 4. SERVO FUNCTION DETAILS 4.8 HIGH-SPEED POSITIONING FUNCTION High-speed positioning is used in the following cases: <1> To perform point-to-point movement quickly, where the composite track of two or more simultaneous axes can be ignored such as, for example, in a punch press <2> To spe
  • Page 1784. SERVO FUNCTION DETAILS B-65150E/04 (3) Setting parameters <1> This parameter specifies whether to enable the position gain switch function as follows: • Series 9046 (When this function is used with the Series 15-A and 0-C, specify the parameter for the Series 9046.) #7 #6 #5 #4 #3 #2 #1 #0 1954 (
  • Page 179B-65150E/04 4. SERVO FUNCTION DETAILS (4) High-speed positioning velocity increment system magnification function (a) Overview This function increases the velocity increment system for the effective velocity parameter of the high-speed positioning functions (position gain switch and low-speed integr
  • Page 1804. SERVO FUNCTION DETAILS B-65150E/04 (c) Setting parameters In addition to the parameter of the position gain switch function described earlier, set the following parameter. #7 #6 #5 #4 #3 #2 #1 #0 1744 − PGTWN2 2204 − PGTWN2 (#5) Specifies whether to double the feed-forward-based effect at positio
  • Page 181B-65150E/04 4. SERVO FUNCTION DETAILS 4.8.2 Low-speed Integration Function (1) Overview To ensure that the motor responds quickly, a small time constant must be set so that a command enabling quick startup is issued. If the time constant is too small, vibration or hunting occurs because of the delay
  • Page 1824. SERVO FUNCTION DETAILS B-65150E/04 <2> Specify whether to enable integration at acceleration/ deceleration time. 1972 (Series 15-A) 8X79 1714 (Series 15-B, 15i) Limit speed for disabling low-speed integration at acceleration 2029 1029 The integral gain is invalidated during acceleration at a spee
  • Page 183B-65150E/04 4. SERVO FUNCTION DETAILS 4.8.3 Fine Acceleration/Deceleration (FAD) Function (1) Overview The fine acceleration/deceleration function enables smooth acceleration/deceleration. This is done by using servo software to perform acceleration/deceleration processing, which previously has been
  • Page 1844. SERVO FUNCTION DETAILS B-65150E/04 The fine acceleration/deceleration function (linear type) is supported in the following: Series 9080/K(11) and subsequent editions (Series 15-B, 16-C, 18-C) Series 9090/E(05) and subsequent editions (Series 16i, 18i, 21i, Power Mate i) Series 90A0/A(01) and subs
  • Page 185B-65150E/04 4. SERVO FUNCTION DETAILS 1985 − Position feed-forward coefficient (in units of 0.01%) 2092 − [Valid data range] 100 to 10000 NOTE • Feed-forward control is enabled by setting bit 1 of No. 1883 (Series 15) or No. 2005 (Series 16) to 1. • The velocity feed-forward coefficient is set in pa
  • Page 1864. SERVO FUNCTION DETAILS B-65150E/04 (5) Setting parameters for the fine acceleration/deceleration function, used separately for cutting and rapid traverse As mentioned above, set the fine acceleration/deceleration function bit and the bit for selecting the bell-shaped or linear type. Then, set the
  • Page 187B-65150E/04 4. SERVO FUNCTION DETAILS 1985 (Series 15i) − Position feed-forward coefficient for rapid traverse (in units of 0.01%) 2092 − 1962 (Series 15i) − Velocity feed forward coefficient for rapid traverse (%) 2069 − NOTE When FAD, used separately for cutting and rapid traverse, is applied to a
  • Page 1884. SERVO FUNCTION DETAILS B-65150E/04 Table 4.8.3 Feed-forward coefficient and fine acceleration/deceleration time constant parameters classified by use Series 16, 18 Parameters for rapid Parameter setting Parameters for cutting traverse Position Velocity Velocity No. 2005 No. 2007 No. 1800 No. 2202
  • Page 189B-65150E/04 4. SERVO FUNCTION DETAILS (6) Cautions for combined use of fine acceleration/deceleration and rigid tapping (a) Overview Because using fine acceleration/deceleration causes the servo axis delay (error) to increase by 1 ms, rigid tapping with fine acceleration/deceleration set up results
  • Page 1904. SERVO FUNCTION DETAILS B-65150E/04 Example of parameter setting) Usually set Newly set Position gain (1/s) value value 15 1500 1523 16.66 1666 1694 20 2000 2041 25 2500 2564 30 3000 3093 33.33 3333 3448 35 2500 3627 40 4000 4167 45 4500 4712 50 5000 5263 B. Method for internally changing the serv
  • Page 191B-65150E/04 4. SERVO FUNCTION DETAILS NOTE The following limitations are imposed on the combined use of synchronization with the spindle motor and fine acceleration/deceleration. (Disable the fine acceleration/deceleration function if the combine use is impossible.) Combined Function use with FAD Ca
  • Page 1924. SERVO FUNCTION DETAILS B-65150E/04 Example) When feed operation is performed using F1800 with a position gain of 30 (1/s) and a detection unit of 0.001 mm, the positional deviation is normally expressed as follows: Normal Feedrate (mm/min) deviation = (pulses) 60 × Position gain (1/s) × Detection
  • Page 193B-65150E/04 4. SERVO FUNCTION DETAILS (8) Examples of applying the fine acceleration/deceleration function Motor velocity Motor velocity Torque command Torque command Conventional control in which the feed-forward When the feed-forward function is used function is not used Motor velocity Motor veloc
  • Page 1944. SERVO FUNCTION DETAILS B-65150E/04 4.9 DUMMY SERIAL FEEDBACK FUNCTIONS 4.9.1 Dummy Serial Feedback Functions (1) Overview The functions described below are intended to ignore a servo alarm for axes not connected to a servo control circuit. (2) Setting the built-in pulse coder-based dummy feedback
  • Page 195B-65150E/04 4. SERVO FUNCTION DETAILS Example When there are only two amplifiers for a 3-axis NC How amplifiers are connected Optical cable NC X-axis Z-axis amplifier amplifier Let us consider how to make the Y-axis (second axis) a dummy axis in the above configuration. Set up the parameters as foll
  • Page 1964. SERVO FUNCTION DETAILS B-65150E/04 [Other than Series 0-C] #7 #6 #5 #4 #3 #2 #1 #0 1800 CVR CVR (#1) Specifies whether to issue a servo alarm if the VRDY is on before the PRDY is output, as follows: 0: To issue 1: Not to issue ← To be set (3) Separate detector-based dummy feedback The separate de
  • Page 197B-65150E/04 4. SERVO FUNCTION DETAILS 4.9.2 How to Use the Dummy Feedback Functions for a Multiaxis Servo Amplifiers When an Axis Is Not in Use If an axis connected to a multiaxis amplifier is not in use, it is necessary to set the dummy function bit described in Subsec. 4.9.1 and connect a dummy co
  • Page 1984. SERVO FUNCTION DETAILS B-65150E/04 4.10 BRAKE CONTROL FUNCTION (1) Overview This function prevents the tool from dropping vertically when a servo alarm or emergency stop occurs. The function prevents the motor from being immediately deactivated, instead keeping the motor activated for the period
  • Page 199B-65150E/04 4. SERVO FUNCTION DETAILS NOTE When brake control is applied for a two-, or three-axis amplifier, set the brake contrrol parameters for all the axes to be controlled. If an alarm is generated for any of the axes connected to the two- or three-axis amplifier, brake control does not operat
  • Page 2004. SERVO FUNCTION DETAILS B-65150E/04 (C-series amplifier) If the 100 VAC supply to the servo amplifier is cut, the brake control function cannot operate. To maintain the 100-VAC supply longer than the brake control function is applied, connect a timer to the emergency stop button and the 100-VAC co
  • Page 201B-65150E/04 4. SERVO FUNCTION DETAILS (4) Detailed operation Suppose that there is a machine (with the FANUC CNC) having horizontal and vertical axes of motion. When a servo alarm(*) occurs on the horizontal axis but no error occurs on the vertical axis, the MCCs of the amplifiers for all axes are t
  • Page 2024. SERVO FUNCTION DETAILS B-65150E/04 This function changes the timing to force MCC off, using a software timer, thus preventing the tool from dropping. Fig. 4.10 (e) shows the timing diagram. Alarm or emergency stop signal 50 to 100 ms (approximately) Mechanical brake Servo amplifier MCC off Brake
  • Page 203B-65150E/04 4. SERVO FUNCTION DETAILS 4.11 STOP DISTANCE REDUCTION FUNCTION The functions described below prevent the tool from colliding with the machine or workpiece by reducing the distance required for the motor to come to a stop if a usual emergency stop condition occurs or if a separate detect
  • Page 2044. SERVO FUNCTION DETAILS B-65150E/04 To use the emergency stop distance reduction function, enable the brake control function for all axes. (Brake control function) #7 #6 #5 #4 #3 #2 #1 #0 1883 8X05 BRKC 2005 − BRKC (#6) Specifies whether to enable brake control function as follows: 1: To enable 0:
  • Page 205B-65150E/04 4. SERVO FUNCTION DETAILS (5) Connecting an amplifier <1> α series amplifier PSM SPM SVM Emergency stop contact (No timer is necessary.) CX4 2 ESP • • 3 • • +24 V • • CX3 1 ∼ Coil 3 MCC Fig. 4.11.1 (b) α series amplifier <2> C-series amplifier Emergency stop contact A timer of about 50 C
  • Page 2064. SERVO FUNCTION DETAILS B-65150E/04 4.11.2 Emergency Stop Distance Reduction Function Type 2 (1) Overview This function returns a servo motor to a position where an emergency stop signal is detected for the servo motor, thereby assuring a shorter stop distance than with emergency stop distance red
  • Page 207B-65150E/04 4. SERVO FUNCTION DETAILS NOTE 2 To reduce the stop distance at a power break, make the following preparations: 1 Connect a power break backup module. 2 Connect a 200 ms (approximate) timer to the *ESP signal line of the PSM. 3 Enable this function. 4 Set the brake control timer with 200
  • Page 2084. SERVO FUNCTION DETAILS B-65150E/04 If this function is used with other system software, a separate detector disconnection alarm and an "abnormal-load detection alarm" occur simultaneously. (For the Series 15-B, this phenomenon occurs in all editions.) (4) Setting parameters #7 #6 #5 #4 #3 #2 #1 #
  • Page 209B-65150E/04 4. SERVO FUNCTION DETAILS NOTE 2 1 This function is implemented using part of the "abnormal-load detection function" option. So, using it requires that option. 2 Usually, when a separate detector disconnection alarm occurs for an axis, not only this axis but also the others are brought t
  • Page 2104. SERVO FUNCTION DETAILS B-65150E/04 4.11.4 OVL and OVC Alarm Stop Distance Reduction Function (1) Overview This function reduces the stop distance for a servo motor when an OVL (motor overheat or amplifier overheat) or OVC alarm condition is detected for the servo motor. It also causes the other a
  • Page 211B-65150E/04 4. SERVO FUNCTION DETAILS Optional function 4.12 ABNORMAL-LOAD DETECTION FUNCTION 4.12.1 Abnormal-load Detection Function (1) Overview When a tool collides with the machine or workpiece, or when a tool is faulty or damaged, a load torque greater than that experienced during normal feed i
  • Page 2124. SERVO FUNCTION DETAILS B-65150E/04 (3) Parameter adjustment methods <1> Connect a check board to enable the motor velocity and torque command to be observed with an oscilloscope or personal computer. The measurement channels of the check board should be as follows: Digital and analog (for A06B-60
  • Page 213B-65150E/04 4. SERVO FUNCTION DETAILS [For Series 9080, 9090, and 90A0] (This function is supported in the Series 9080/G(07) and subsequent editions, Series 9090/C(03) and subsequent editions, and Series 90A0/A(01) and subsequent editions.) #7 #6 #5 #4 #3 #2 #1 #0 1740 − IQOB 2200 1200 [For Series 9
  • Page 2144. SERVO FUNCTION DETAILS B-65150E/04 <5> Make adjustments on the POA1 observer parameter. Run the servo motor at a rapid traverse rate (abut 1000 rpm) linearly back and forth, and observe the motor velocity and estimated disturbance value. The waveforms observed before adjustment has either of the
  • Page 215B-65150E/04 4. SERVO FUNCTION DETAILS (For those who want to know details) The observer estimates a disturbance torque by subtracting the torque required for acceleration/deceleration from the entire torque. The torque required for acceleration/deceleration is calculated using a motor model. The POA
  • Page 2164. SERVO FUNCTION DETAILS B-65150E/04 <6> For the vertical axis, adjust the torque offset. (This is unnecessary for the horizontal axis.) For the vertical axis, the estimated disturbance value is not centered at level 0. Torque offset adjustment is done to center the estimated disturbance value at l
  • Page 217B-65150E/04 4. SERVO FUNCTION DETAILS <7> Compensate for dynamic friction. The dynamic friction-caused component of the estimated disturbance value is nearly proportional to the velocity. Let us deduce a proportional multiplier from the dynamic friction component at 1000 rpm, and use it to cancel th
  • Page 2184. SERVO FUNCTION DETAILS B-65150E/04 <8> Set an abnormal-load detection alarm level. Perform several different operations (sample machining program, simultaneous all-axis rapid traverse acceleration/deceleration, etc.), and observe estimated disturbance values, and measure the maximum (absolute) va
  • Page 219B-65150E/04 4. SERVO FUNCTION DETAILS <9> Set a distance to be retraced at abnormal-load detection. If the retrace amount parameter is 0, the motor stops at the point where an abnormal load was detected. To retract the tool from the location of collision quickly, set the retrace distance parameter.
  • Page 2204. SERVO FUNCTION DETAILS B-65150E/04 4.12.2 Unexpected Disturbance Detection Performed Separately for Cutting and Rapid Traverse (1) Overview An improvement has been made so that the alarm threshold for unexpected disturbance detection can be set separately for rapid traverse and cutting. (2) Serie
  • Page 221B-65150E/04 4. SERVO FUNCTION DETAILS NOTE 1 When the threshold for cutting is 0, unexpected disturbance detection is not performed during cutting. When the threshold for rapid traverse is 0, unexpected disturbance detection is not performed during rapid traverse. When both parameters are 0, unexpec
  • Page 2224. SERVO FUNCTION DETAILS B-65150E/04 4.13 FUNCTION FOR OBTAINING CURRENT OFFSETS AT EMERGENCY STOP (1) Overview A current offset is an offset value arising from an analog offset voltage associated with an current detector. If such an offset value is not obtained correctly, the feedback current of t
  • Page 223B-65150E/04 4. SERVO FUNCTION DETAILS 4.14 LINEAR MOTOR PARAMETER SETTING 4.14.1 Procedure for Setting the Initial Parameters of Linear Motors (1) Overview The following describes the procedure for setting the digital servo parameters to enable the use of a FANUC linear motor. (2) Series and edition
  • Page 2244. SERVO FUNCTION DETAILS B-65150E/04 Parameter setting procedure (1) Procedure (1) can be used to initialize the parameters (such as current gain) necessary to drive a linear motor. After initialization, it is necessary to set the parameters that depend on the signal pitch of the scale. So, follow
  • Page 225B-65150E/04 4. SERVO FUNCTION DETAILS Parameter setting procedure (2) Procedure (2) can be used to specify the parameters that depend on the signal pitch of the scale. Set the parameters according to Table 4.14.1 (2). 1876 − Number of velocity pulses (PULCO) 2023 − (Parameter calculation expression)
  • Page 2264. SERVO FUNCTION DETAILS B-65150E/04 Table 4.14.1 (c) Setting parameters for detection unit of 1 µ (incremental) Number of Number of AMR AMR conversion FFG FFG Signal pitch PLC0 velocity position conversion coefficient 1 numerator denominator pulses pulses coefficient 2 20 0 5000 16000 1536 0 5 128
  • Page 227B-65150E/04 4. SERVO FUNCTION DETAILS *3-b Because the dead zone compensation parameter overflows internally, change it as follows: 1866 − Dead zone compensation (tilt) (PDDP) 2054 − PDDP Dead zone compensation (tilt) 1894 (typical value for linear motor) → 1500 Parameter setting procedure (3) Proce
  • Page 2284. SERVO FUNCTION DETAILS B-65150E/04 DOS prompt > SD INIT[Enter] o (Origin of position) F9 (System setting) 0 (CH0) 2[Enter] (TCMD) 639.84375[Enter] (A) F10 (Return to main menu.) NOTE) See Sec. 4.19 for explanations about how to use the SD software. In addition, the analog voltage from the chec
  • Page 229B-65150E/04 4. SERVO FUNCTION DETAILS Parameter setting procedure (4) Procedure (4) can be used to set parameters according to the cooling method used for linear motors. Change the following parameters as listed in Table 4.14.1 (f). For self-cooling linear motors, the parameters need not be set here
  • Page 2304. SERVO FUNCTION DETAILS B-65150E/04 Parameter setting procedure (5) Procedure (5) supplements descriptions about application of level-up HRV for linear motors. (→ See Sec. 4.3, "Level-up HRV Control.") When level-up HRV is applied to increase the current loop gain of a linear motor, it is necessar
  • Page 231B-65150E/04 4. SERVO FUNCTION DETAILS • The valid AMR offset data range is between −45 (degrees) and +45 (degrees). If a value out of this range is specified in the parameter, an invalid-parameter alarm is issued. NOTE) The invalid-parameter alarm detail No. is 1393. CAUTION When an AMR conversion c
  • Page 2324. SERVO FUNCTION DETAILS B-65150E/04 (3) Setting parameters 1753 − Correction of two thrust ripples per magnetic pole pair 2130 − Correction gain (high-order 8 bits) Correction phase (low-order 8 bits) 1754 − Correction of four thrust ripples per magnetic pole pair 2131 − Correction gain (high-orde
  • Page 233B-65150E/04 4. SERVO FUNCTION DETAILS <2>-a When using A06B-6057-H620 (digital check board), set the DIP switches on the check board as follows: To measure an odd-numbered axis: A06B-6057-H620 CNB CNB CNB CNB CNS Outputs for PIO-48W PC-Card Output to Analog Spindle Axis 2 Axis 1 Input from JA8A CN13
  • Page 2344. SERVO FUNCTION DETAILS B-65150E/04 <4> Start the "SD" software, and make the following setting. DOS prompt > SD INIT[Enter] o (Origin of position) F9 (System setting) 0 (CH0) 2[Enter] (TCMD) 1.0 [Enter] (1.0A) 1 (CH1) 2[Enter] (TCMD) 40[Enter] (Maximum current for servo amplifier to be used)
  • Page 235B-65150E/04 4. SERVO FUNCTION DETAILS TCMD Activating phase angle θ <8> Pressing CTRL+L causes the correction parameter values to be calculated as shown below. Enter the displayed parameter values. Usually, use the correction parameter values displayed on the top row. The parameter values displayed
  • Page 2364. SERVO FUNCTION DETAILS B-65150E/04 Example of measurement (a) Measured waveform where parameter value calculation is possible (b) Measured waveform where parameter value calculation is impossible (No. 1) Two activating phase angle-based sine waves cannot be acquired because of insufficient measur
  • Page 237B-65150E/04 4. SERVO FUNCTION DETAILS (c) Measured waveform where parameter value calculation is impossible (No. 2) Two activating phase angle-based sine waves cannot be acquired because of an inappropriate measurement start position. − 231 −
  • Page 2384. SERVO FUNCTION DETAILS B-65150E/04 4.15 TORQUE CONTROL FUNCTION (1) Overview In PMC axis control, the torque control function can be used. The servo motor produces a torque as specified by the NC. Note that the user can switch between position control and torque control. (2) Control types Two typ
  • Page 239B-65150E/04 4. SERVO FUNCTION DETAILS (3) Series and editions of applicable servo software (i) Torque control type 1 Series 9066/E(05) and subsequent editions (Power Mate-H) Series 9080/G(07) and subsequent editions (Series 15-B, 16-C, 18-C) Series 9090/C(03) and subsequent editions (Series 16i) Ser
  • Page 2404. SERVO FUNCTION DETAILS B-65150E/04 1998 − Torque constant 2105 − This parameter is used to specify a motor-specific torque constant. The units are as follows: 0.00001 Nm/torque command for a rotary motor 0.001 Nm/torque command for a linear motor When the initial parameter setting function (Sec.
  • Page 241B-65150E/04 4. SERVO FUNCTION DETAILS 4.16 USAGE OF THE SERVO SOFTWARE FOR SUPER- PRECISION MACHINING (1) Overview For servo systems used for super-precision machines, a special setting may be required in addition to the conventional settings of 1 µm and 0.1 µm as detection unit. In the cases descri
  • Page 2424. SERVO FUNCTION DETAILS B-65150E/04 In this case, the current loop parameter must be modified. With the Series 9081, required conversions can be made only by setting a bit parameter. For an explanation of how to make this setting, see (5) in this section. Example) When the supply voltage for drivi
  • Page 243B-65150E/04 4. SERVO FUNCTION DETAILS 1891 − Number of position pulses (PPLS) 2024 − When a Serial A or αA1000 built-in pulse coder is used, set the following: Number of feedback pulses from separate detector/motor revolution × PULCO 8,192 #7 #6 #5 #4 #3 #2 #1 #0 1804 − PLC0 2000 − PLC0 (#0) The num
  • Page 2444. SERVO FUNCTION DETAILS B-65150E/04 (b) Notes on using PMC velocity control When PMC velocity control is used, and a very small value is set as the number of velocity pulses (PULCO), the difference between a specified velocity and actual velocity may become large. In such a case, modify the settin
  • Page 245B-65150E/04 4. SERVO FUNCTION DETAILS (5) Changing the amplifier input voltage By maintaining the supply voltage to the servo amplifier control unit at 200 V (the regular voltage) and changing the supply voltage to the inverter to 60 V (normally 200 V), the voltage command resolution can be increase
  • Page 2464. SERVO FUNCTION DETAILS B-65150E/04 (6) Using a separate position detector Optional function (1,000,000 pulses or more per motor revolution) When a machine is used for which the number of feedback pulses from a separate position detector per motor revolution exceeds 1,000,000, stable control canno
  • Page 247B-65150E/04 4. SERVO FUNCTION DETAILS 1732 − Conversion coefficient for the number of feedback pulses (SBPDNL) 2121 − The value specified in this parameter is used to divide the number of velocity pulses and the number of position pulses to produce a value not greater than 32,767. For this parameter
  • Page 2484. SERVO FUNCTION DETAILS B-65150E/04 Optional function 4.17 TANDEM CONTROL FUNCTION (1) Overview If a single motor is not capable of producing sufficient torque to drive a large table, for example, tandem control allows two motors to produce movement along one axis. A motor of the same specificatio
  • Page 249B-65150E/04 4. SERVO FUNCTION DETAILS Gear Main motor Table Ball screw Sub- motor Fig. 4.17 (b) Example of tandem control application (2) Servo amplifier Servo amplifier FB cable Slider Slider Magnet Fig. 4.17 (c) Example of exercising tandem control (linking linear motors) Power Servo supply amplif
  • Page 2504. SERVO FUNCTION DETAILS B-65150E/04 (3) Start-up procedure To start tandem control, follow the procedure below. Start-up procedure Set tandem axis (See <1> in Sec. 4.17) Set direction of motor rotation (See <2> in Sec. 4.17) Set position feedback (See <3> in Sec. 4.17) Winding tandem? Yes No Enabl
  • Page 251B-65150E/04 4. SERVO FUNCTION DETAILS <1> Tandem axis setting Tandem control is an optional function. Refer to the Parameter Manual of CNC for details. #7 #6 #5 #4 #3 #2 #1 #0 1817 − TANDEM 1817 − TANDEM (#6) 1: Enables tandem control. (Set this parameter for the main- and sub- axes.) − − Number of
  • Page 2524. SERVO FUNCTION DETAILS B-65150E/04 (2) For Series 15 ( indicates a tandem axis.) Servo axis Parallel Axis Axis Tandem arrangement axis Remark number name No. 1817#6 No. 1023 No. 1021  1 XM 1 1 77 CNC axis (main axis)  2 YM 3 1 77 CNC axis (main axis) 3 Z 5 0 0 CNC axis 4 A 6 0 0 CNC axis 5 B 7
  • Page 253B-65150E/04 4. SERVO FUNCTION DETAILS (4) Descriptions of servo parameters for adjustment The load inertia ratio to be specified for axes subjected to tandem control differs from that for ordinary axes. 1875 − Load inertia ratio (LDINT) 2021 − [Standard setting] (Load inertia/motor inertia) × 256 (N
  • Page 2544. SERVO FUNCTION DETAILS B-65150E/04 4.17.1 Preload Function By applying an offset to the torque controlled by position (velocity) feedback, torques of opposite directions can be applied to the main- (main motor) and sub-axes (sub-motor) to maintain tension at all times. This function can reduce th
  • Page 255B-65150E/04 4. SERVO FUNCTION DETAILS Torque command Torque limit Main motor +preload Required torque +preload Required torque = (drive torque)/2 −preload (Drive torque)/2 = (main + sub)/2 Sub-motor − Torque limit Fig. 4.17.1 (b) Relationship between required torque and torque command for each motor
  • Page 2564. SERVO FUNCTION DETAILS B-65150E/04 Example of setting For the α22/3000 (Servo module SVM1-130) When a preload torque of 5 Nm is to be applied, the torque constant is 0.68 Nm/Arms according to the specifications of the servo motor. So, the peak value is 0.48 Nm/Ap. The torque is converted to a cur
  • Page 257B-65150E/04 4. SERVO FUNCTION DETAILS 4.17.2 Damping Compensation Function To enable more stable tandem control, a torque offset can be applied to the sub-axis, or to both the main- and sub-axes to eliminate a difference in speed, if any, between the main- and sub-axes. This function is particularly
  • Page 2584. SERVO FUNCTION DETAILS B-65150E/04 1721 − Damping compensation gain Kc (ABPGL) 2036 − Set this parameter for the main axis only. [Valid data range] 0 to 32767 [Setting method] Kc × 32768 (0 ≤ Kc < 0.5) A function bit is not supported for the damping compensation function; the damping compensation
  • Page 259B-65150E/04 4. SERVO FUNCTION DETAILS Motor speed (main) Motor speed (sub) 0 0.5 1 sec Fig. 4.17.2 (b) Motor speed vibration  Adjustment procedure for damping compensation P Enable the velocity feedback averaging function. [No. 1952#2 (Series 15), No. 2008#2 (Series 16) = 1] 2 Set an adequate prelo
  • Page 2604. SERVO FUNCTION DETAILS B-65150E/04 4.17.3 Velocity Feedback Averaging Function As can be seen from the tandem control block diagram shown in Fig. 4.17.11 (a) in Subsec. 4.17.11, velocity control is not applied to the sub-axis motor. For this reason, the sub-axis may vibrate and become unstable du
  • Page 261B-65150E/04 4. SERVO FUNCTION DETAILS 4.17.4 Servo Alarm 2-axis Simultaneous Monitor Function If an alarm occurs in either of two axis motors used to operate a machine in concert as in synchronization control or tandem control, it is necessary to stop the other axis immediately so as to prevent the
  • Page 2624. SERVO FUNCTION DETAILS B-65150E/04 NC Feedback cable Main axis feedback Linear motor Linear motor Copy Magnet Sub-axis feedback Fig. 4.17.5 Motor feedback sharing function 4.17.6 Full-closed Loop Feedback Sharing Function When applying synchronization control or tandem control, you may need to us
  • Page 263B-65150E/04 4. SERVO FUNCTION DETAILS 4.17.7 Full Preload Function (1) Overview In tandem control, special preload torques of opposite directions, as shown in Fig. 4.17.7 (a), are applied to the main motor and sub-motor to establish tension in the system. With these special torques, the rack and pin
  • Page 2644. SERVO FUNCTION DETAILS B-65150E/04  Servo block diagram (full preload function) Preload (main) > 0 Main Torque + Position command + command Position and Current Motor velocity control + control − Position Rotor feedback position Velocity feedback Motor position feedback Position Machine feedback
  • Page 265B-65150E/04 4. SERVO FUNCTION DETAILS #7 #6 #5 #4 #3 #2 #1 #0 1952 − SPPCHG 2008 − SPPCHG (#4) Specifies the motor output torque polarities: 1: Outputs only the negative polarity to the main axis, and only the positive polarity to the sub-axis. 0: Outputs only the positive polarity to the main axis,
  • Page 2664. SERVO FUNCTION DETAILS B-65150E/04 (3) Changing the torque output polarity with the full preload function When the full preload function is used together with synchronous tandem control as shown in Fig. 4.17.7 (e), set the torque output polarity with the parameter bit SPPCHG (No. 1952#4, No. 2008
  • Page 267B-65150E/04 4. SERVO FUNCTION DETAILS Synchronous control Master side Slave side Pinion X4 X2 Sub- Gear Gear Sub- motor box box motor Tandem Tandem Main Gear Gear Main motor box box motor Xm X3 Rack Fig. 4.17.7 (e) Synchronous tandem control (4) Checking whether the full preload function is operatin
  • Page 2684. SERVO FUNCTION DETAILS B-65150E/04 4.17.8 Position Feedback Switching Function When the full preload function is enabled, low servo rigidity can result in vibration, as shown in Fig. 4.17.8 (a), only in the case of driving by the sub-axis. In such a case, stable operation can be achieved by using
  • Page 269B-65150E/04 4. SERVO FUNCTION DETAILS 1737 − Position feedback switching time constant τ (JITEI) 2126 − Set this parameter for the main axis only. Set 0 for this parameter for the sub-axis. [Valid data range] 0 to 4096 [Method of setting] {1 − exp (−1 ms/τ)} × 4096 [Standard setting] 0 When τ = ∞ :
  • Page 2704. SERVO FUNCTION DETAILS B-65150E/04 4.17.9 Adjustment (1) Examples of parameter setting This section gives examples of parameter setting. <1> Full-closed loop system using a 1-µm increment system, 8080P/motor revolution for scale feedback, a scale detection unit of 0.5 µm/P, and an α 64 pulse code
  • Page 271B-65150E/04 4. SERVO FUNCTION DETAILS <2> Semi-closed loop system using a 1-µ° increment system, rotary axis with a gear reduction ratio of 1/984, and an α 64 pulse coder (conventional tandem) Series 16 Series 15 Main Sub • Tandem axis No. 1817#6 No. 1817#1 1 1 • Semi-closed loop No. 1815#1 No. 1815
  • Page 2724. SERVO FUNCTION DETAILS B-65150E/04 (2) Back-feed confirmation method (a) Check whether back-feed is possible when the machine is connected and the power line is removed. If back-feed is impossible, unstable control will result, and machine adjustment such as a gear box adjustment will be necessar
  • Page 273B-65150E/04 4. SERVO FUNCTION DETAILS (3) Adjustment items If vibration occurs:  Check the position feedback setting (<3> in Sec. 4.17).  Check Vcmd (CH1), Tcmd (CH2 and CH4), and the speeds (CH5 and CH6) using the check board. (a) A higher gear reduction ratio tends to produce more backlash, such
  • Page 2744. SERVO FUNCTION DETAILS B-65150E/04 4.17.10 Notes on Tandem Control (1) Tandem control and synchronous control selection criteria Two control methods are supported to enable the control of one axis using two motors: tandem control and synchronous control. The synchronous control method controls th
  • Page 275B-65150E/04 4. SERVO FUNCTION DETAILS (2) Notes on high-speed processing of velocity loop proportionals (Torque command) High-speed processing of velocity loop proportionals can be used for tandem control in the following editions: Series 90A0/I(09) and subsequent editions In other editions, using h
  • Page 2764.17.11 Preload (main) Torque Velocity command command Command + Torque command (1) Tandem control + + + Position Velocity (main) Current Servo control control control amplifier − + − 4. SERVO FUNCTION DETAILS - Semi-closed loop Velocity feedback Block Diagrams Main 0 motor 1 Full-closed loop + 0 +
  • Page 277B-65150E/04 Preload (main) Full preload Torque Command command + Torque command + + + + (main) Position Velocity Current Servo control control control amplifier − + − + − Semi-closed loop Velocity feedback Main 0 motor 1 Full-closed + loop 0 + Damping 1 1/2 compensation Scale + − Velocity feedback a
  • Page 2784. SERVO FUNCTION DETAILS B-65150E/04 4.18 SERVO AUTO TUNING (1) Overview The FANUC auto tuning system uses a personal computer to automatically determine servo-related parameter values. Data such as the move commands required for auto tuning is sent to the NC from the personal computer via the RS-2
  • Page 279B-65150E/04 4. SERVO FUNCTION DETAILS (3) System configuration <5> Cable 2 <3> Interface board manufactured by <4> Cable 1 FANUC <6> Personal computer <1> NC <7> RS-232C cable <2> Auto tuning software (a) Items to be purchased from FANUC <1> NC The auto tuning function can be used with the following
  • Page 2804. SERVO FUNCTION DETAILS B-65150E/04 NC name System software Servo software Series 18-B BDA1/03 and later, or Series 9070/H(08) and later, BEA1/04 and later or Series 9080/A(01) and later Series 18-C All versions can be used. Series 9080/A(01) and later Series 21i (C52) All versions can be used. Se
  • Page 281B-65150E/04 4. SERVO FUNCTION DETAILS (b) Items to be provided by the customer <1> Cable 2 NOTE Only when a IBM PC/AT-compatible machine is used, a commercially available cable (for connection between the interface board and printer port), shorter than 2 meters, must be provided. <2> Personal comput
  • Page 2824. SERVO FUNCTION DETAILS B-65150E/04 <3> RS-232C cable • When a NEC PC9801-series PC is used, a commercially available reverse cable such as the PC- 98HA-16 can be used. • When a IBM PC/AT-compatible machine is used, manufacture the following cable: NC side Personal computer side Dsub 25-pin connec
  • Page 283B-65150E/04 4. SERVO FUNCTION DETAILS (5) Examples of usage Before inertia estimation After inertia estimation (Up: TSA, Low: Friction torque) Circle before feed-forward adjustment Circle after feed-forward adjustment Circle after backlash acceleration adjustment Frequency characteristic measurement
  • Page 2844. SERVO FUNCTION DETAILS B-65150E/04 4.19 SERVO CHECK BOARD OPERATING PROCEDURE (1) Overview The servo check board enables digital control values used in a digital servo section to be observed from the outside. The digital control values can be observed in either analog or digital form. Analog outp
  • Page 285B-65150E/04 4. SERVO FUNCTION DETAILS (3) Servo check board connection CAUTIONS FOR CONNECTION When connecting the servo check board to an NC, keep the NC power supply switched off. (a) Connection between check board A (one-piece analog/digital type) and each CNC CNI1 CNI4 CNI3 5VIN 5VEX GND CNI2 CN
  • Page 2864. SERVO FUNCTION DETAILS B-65150E/04 Series 15-B, 16, 18, 20, 21-TB, 21-MB Servo check board A06B-6057-H630 CNC Straight cable First to fourth axes A06B-6050-K872 JA8A CNI3 Fifth to sixth axes JA26 CNI4 CNS1 OPTION - 2 JA8B Fifth to eighth axes To analog spindle NOTE) To observe data for the fifth
  • Page 287B-65150E/04 4. SERVO FUNCTION DETAILS β amplifier with I/O link CNI1 Reverse-insertion-prevented cable A06B-6050-K871 Dedicated adapter board + dedicated cable A06B-6093-K021 TEST JN1 JD1A JD1A Servo check board A06B-6057-H630 To I/O link slave unit (b) Connection between servo check board B (interf
  • Page 2884. SERVO FUNCTION DETAILS B-65150E/04 (c) Connection between servo check board C (analog check board) and each CNC GNDTSALTSAM CH1 CH2 CH3 CH4 CH5 CH6 CH7 CH8 GND NOTE Install a jumper pin on the 5 MHz side at S1 (clock) on the check board. Rotary switch Do not use check CN2 CN1 2.5 MHz 5 MHz pins T
  • Page 289B-65150E/04 4. SERVO FUNCTION DETAILS (b) Servo check board B (digital type) Set the DIP switches as explained below. A06B-6057-H620 CNB1 CNB2 CNB3 CNB4 CNS1 Set DIP switches 1 and Outputs for PIO-48W PC-Card Output to Analog Spindle CN13 @ Input from JA8A 0 according to the directions printed on th
  • Page 2904. SERVO FUNCTION DETAILS B-65150E/04 (5) VCMD signal When the feed-forward function is not used, the VCMD signal conveys a velocity command. With this signal, it is possible to measure very slight vibration in the motor and its motion irregularity. When the feed-forward function is used, the VCMD s
  • Page 291B-65150E/04 4. SERVO FUNCTION DETAILS The following table lists the number of positional deviation pulses for a VCMD voltage of 5 V. Table 4.19 (c) Number of positional deviation pulses for a VCMD voltage of 5 V for semi-closed loop Number of positional deviation pulses for a VCMD VCM2 VCM1 voltage
  • Page 2924. SERVO FUNCTION DETAILS B-65150E/04 (6) TCMD signal The TCMD signal conveys a torque command for the motor. When a motor is running at high speed, its actual currents (IR and IS) may differ from the rating because of back electromotive force. The output voltage of the signal becomes 4.44 V at maxi
  • Page 293B-65150E/04 4. SERVO FUNCTION DETAILS (8) Acquiring signals using a personal computer Servo check boards A and B, listed in Table 4.19 (a), have a digital output interface. Using the servo adjustment software (SD) enables them to collect servo data such as position and speed through the interface in
  • Page 2944. SERVO FUNCTION DETAILS B-65150E/04 <2> To change the type of data to be measured and the unit of conversion for it, press the F9 key on the main screen to display the system setting screen. Use numeric keys 0 to 3 to specify a signal to be observed on each measurement channel and a unit conversio
  • Page 295B-65150E/04 4. SERVO FUNCTION DETAILS <3> To specify measurement intervals, press the F5 key to display the parameter setting screen. Pressing numeric keys 1, 2, 5, and 0 can change the setting. Usually select 1 ms. Use numeric keys 1, 2, 5, and 0 to specify a measurement interval. The measurement i
  • Page 2964. SERVO FUNCTION DETAILS B-65150E/04 (c) Pin numbers and signal meanings Pin Signal Pin Signal Signal meaning Signal meaning number name number name <1> <11> +24VC +24 V supply voltage <2> +3.3V +3.3 V supply voltage <12> +15VC +15 V supply voltage L axis phase-R motor current <3> IRL <13> −15VC −1
  • Page 297B-65150E/04 5. DETAILS OF PARAMETERS 5 DETAILS OF PARAMETERS − 291 −
  • Page 2985. DETAILS OF PARAMETERS B-65150E/04 5.1 DETAILS OF Series 0-C AND 15-A SERVO PARAMETERS (9041, 9046 SERIES) The descriptions of parameters follow. For parameters for which a specification method is not described, do not change the parameters from the values set up automatically during servo paramet
  • Page 299B-65150E/04 5. DETAILS OF PARAMETERS #7 #6 #5 #4 #3 #2 #1 #0 8X02 PFSE 1807 PFSE (#3) The separate detector is: ⇒ See Subsec. 2.1.2. 0: Not used 1: Used This parameter must be set only for Series 15-A. For Series 0-C, specifying parameter No. 0037 specifies this parameter automatically. #7 #6 #5 #4
  • Page 3005. DETAILS OF PARAMETERS B-65150E/04 #7 #6 #5 #4 #3 #2 #1 #0 8X04 DLY0 1809 DLY0 (#6) The PWM dead zone is set to: 0: 8 µs 1: 16 µs Always set this bit to 1 when using the S series servo amplifier, α series large-size servo amplifier (SVMI-240, -360), and α series HV servo amplifier. #7 #6 #5 #4 #3
  • Page 301B-65150E/04 5. DETAILS OF PARAMETERS DBST (#1) The emergency stop distance reduction ⇒ See Subsec. 4.11.1. function type 1 is: Related parameters: 0: Not used 8X05 (Series 0-C), 1883 1: Used (Series 15-A), 8X83 (Series 0- C), and 1976 (Series 15-A) PKVE (#2) The velocity dependent current loop Relat
  • Page 3025. DETAILS OF PARAMETERS B-65150E/04 #7 #6 #5 #4 #3 #2 #1 #0 8X10 POLE SSG1 PGTW BLTE RCCL 1954 − MVFB − BLTE RCCL The upper row is for the Series 9046. The lower row is for the Series 9041. RCCL (#1) The actual current-based variable Reletad parameters: torque limit function is: 8X52 (Series 0-C) a
  • Page 303B-65150E/04 5. DETAILS OF PARAMETERS #7 #6 #5 #4 #3 #2 #1 #0 8X12 VCM2 VCM1 MSFE 1956 MSFE (#1) The machine speed feedback function ⇒ See Subsec. 4.5.1. is: Related parameters: 0: Not used 8X88 (Series 0-C) and 1981 1: Used (Series 15-A) VCM1, 2 (#4, #5) The VCMD waveform is converted ⇒ See (5) in S
  • Page 3045. DETAILS OF PARAMETERS B-65150E/04 ✰: Parameters set up automatically at initialization ★: Parameters that can be kept at the automatically set values Parameter number Details Series 0-C Series 15-A 8X55 1867 Current dead-zone compensation (PHYST) ★ Motor-specific 8X56 1868 Backelectromotive force
  • Page 305B-65150E/04 5. DETAILS OF PARAMETERS 5.2 DETAILS OF THE SERVO PARAMETERS FOR Series 15, 16, 18, 20, 21, Power Mate (SERIES 9060, 9064, 9065, 9066, 9070, 9080, 9081, 9090, AND 90A0) The descriptions of parameters follow. For parameters for which a specification method is not described, do not change
  • Page 3065. DETAILS OF PARAMETERS B-65150E/04 #7 #6 #5 #4 #3 #2 #1 #0 1807 − VFSE PFSE 2002 1002 #7 #6 #5 #4 #3 #2 #1 #0 1815 OPT 1815 OPT (#1) A separate position detector is: ⇒ See Subsec. 2.1.2. 0: Used 1: Not used This bit is not supported by the Power Mate-E. PFSE (#3) A separate position detector is: 0
  • Page 307B-65150E/04 5. DETAILS OF PARAMETERS PIEN (#3) The velocity control method to be used is: 0: I-P 1: PI NPSP (#4) The N pulse suppression function is: ⇒ See Subsec. 4.4.4. 0: Not used Related parameters: 1: Used 1992 (Series 15), 2099 (Series 16), and 1099 (Power Mate-E) BLEN (#5) The backlash accele
  • Page 3085. DETAILS OF PARAMETERS B-65150E/04 #7 #6 #5 #4 #3 #2 #1 #0 1883 − SFCM BRKC FEED 2005 1005 FEED (#1) The feed forward function is: ⇒ See Subsecs. 4.6.1, 4.6.2, and 0: Not used 4.6.3. 1: Used Related parameters: 1961 (Series 15), 2068 (Series 16), 1068 (Power Mate-E), 1985 (Series 15), and 2092 (Se
  • Page 309B-65150E/04 5. DETAILS OF PARAMETERS ACCF (#4) Specifies the amount of velocity feedback data to be used as follows: 0: Velocity feedback for the latest 2 ms 1: Velocity feedback for the latest 1 ms DCBE (#6) At deceleration, back electromotive force compensation is: 0: Invalidated 1: Validated ← ★:
  • Page 3105. DETAILS OF PARAMETERS B-65150E/04 SPPC (#4) The motor output torque polarities are as follows: 0: Outputs only the positive polarity to the main axis, and outputs only the negative polarity to the sub-axis. 1: Outputs only the negative polarity to the main axis, and outputs only the positive pola
  • Page 311B-65150E/04 5. DETAILS OF PARAMETERS #7 #6 #5 #4 #3 #2 #1 #0 1953 − BLST BLCU ADBL IQOB SERD 2009 1009 SERD (#0) The dummy serial feedback function is: ⇒ See Subsec. 4.9.1. 0: Not used 1: Used IQOB(#1) 1: Eliminates the effect of voltage ⇒ See Subsec. 4.12.1. saturation in unexpected disturbance det
  • Page 3125. DETAILS OF PARAMETERS B-65150E/04 HBBL (#5) A backlash compensation amount is ⇒ See Subsec. 4.5.4. added to the error counter of: 0: Semi-closed loop ← Standard setting 1: Full-closed loop POLE (#7) The punch/laser switching function is: 0: Not used 1: Used #7 #6 #5 #4 #3 #2 #1 #0 1955 − RCCL 201
  • Page 313B-65150E/04 5. DETAILS OF PARAMETERS #7 #6 #5 #4 #3 #2 #1 #0 1957 − BZNG BLAT TDOU SSG1 PGTW 2015 1015 PGTW (#0) The position gain switching function ⇒ See Subsec. 4.8.1. is: Related parameters: 0: Not used 1713 (Series 15), 2028 (Series 1: Used 16), and 1028 (Power Mate-E) SSG1 (#1) The integration
  • Page 3145. DETAILS OF PARAMETERS B-65150E/04 #7 #6 #5 #4 #3 #2 #1 #0 1959 − PK25 OVCR RISC HTNG DBST 2017 1017 DBST (#0) The stop distance reduction function ⇒ See Subsec. 4.11.1. (type 1) during emergency stop is: Related parameters: 0: Not used 1883 (Series 15), 2005 (Series 1: Used 16), 1976 (Series 15),
  • Page 315B-65150E/04 5. DETAILS OF PARAMETERS #7 #6 #5 #4 #3 #2 #1 #0 1709 − DPFB SPSY 2019 1019 SPSY (#4) A separate velocity detector is: ⇒ See Sec. 4.16. 0: Not used 1: Used DPFB(#7) The dual position feedback function ⇒ See Subsec. 4.5.4. (option) is: Related parameters: 0: Not used 1971 (Series 15), 207
  • Page 3165. DETAILS OF PARAMETERS B-65150E/04 #7 #6 #5 #4 #3 #2 #1 #0 1741 − CPEE SPVC RNLV CROF 2201 − CROF (#0) The function for obtaining current ⇒ See Sec. 4.13. offsets upon an emergency stop is: 0: Not used 1: Used RNLV (#1) Specifies the detection level for the feedback mismatch alarm as follows: 0: 6
  • Page 317B-65150E/04 5. DETAILS OF PARAMETERS OVS1 (#3) 1: Overshoot compensation is valid ⇒ See Sec. 4.7. only once after the termination of a move command. DUAL (#4) Zero width is determined: ⇒ See Subsec. 4.5.4. 0: Only by setting = 0 Related parameters: 1: By setting 1974 (Series 15) and 2081 (Series 16)
  • Page 3185. DETAILS OF PARAMETERS B-65150E/04 #7 #6 #5 #4 #3 #2 #1 #0 1747 − PD50 2207 − PD50 (#3) Specifies a value for the stop-time ⇒ See Subsec. 4.4.3. variable proportional gain function as Related parameters: follows: 1730 (Series 15) and 2119 0: 75% down (Series 16) 1: 50% down #7 #6 #5 #4 #3 #2 #1 #0
  • Page 319B-65150E/04 5. DETAILS OF PARAMETERS ✰: Parameters set up automatically at initialization ★: Parameters that can be kept at the automatically set values Parameter number Series 15 Series 16, 18, Power Details 20, 21, Mate-E Power Mate 1874 2020 1020 Motor No. → 2.1.2 Motor number that can be specifi
  • Page 3205. DETAILS OF PARAMETERS B-65150E/04 ✰: Parameters set up automatically at initialization ★: Parameters that can be kept at the automatically set values Parameter number Series 15 Series 16, 18, Power Details 20, 21, Mate-E Power Mate 1865 2053 1053 Current dead-zone compensation (PPMAX) ★ Motor-spe
  • Page 321B-65150E/04 5. DETAILS OF PARAMETERS ✰: Parameters set up automatically at initialization ★: Parameters that can be kept at the automatically set values Parameter number Series 15 Series 16, 18, Power Details 20, 21, Mate-E Power Mate 1977 2084 1084 Flexible feed gear (numerator) → 2.1.2 1978 2085 1
  • Page 3225. DETAILS OF PARAMETERS B-65150E/04 ✰: Parameters set up automatically at initialization ★: Parameters that can be kept at the automatically set values Parameter number Series 15 Series 16, 18, Power Details 20, 21, Mate-E Power Mate 1753 2130 − Correction of two thrust ripples per magnetic pole pa
  • Page 323B-65150E/04 6. PARAMETER LIST 6 PARAMETER LIST − 317 −
  • Page 3246. PARAMETER LIST B-65150E/04 6.1 FOR Series 0-C AND 15-A July 1999 Series 9046 (compatible with standard and high-speed positioning) Series 9041 (compatible with dual position feedback) Motor model α3HV α6HV α12HV α22HV α30HV αC3 αC6 αC12 αC22 α0.5 Motor specification 0171 0172 0176 0177 0178 0121
  • Page 325B-65150E/04 6. PARAMETER LIST Motor model α3/3 α6/2 α6/3 α12/2 α12/3 α22/2 α22/3 α30/2 α30/3 αM3 Motor specification 0123 0127 0128 0142 0143 0147 0148 0152 0153 0161 Motor model Motor specification 98.04.14 Motor type No. 15 16 17 18 19 20 21 22 23 24 Symbol Parameter No. FS15-A FS0-C 1808  8 03 0
  • Page 3266. PARAMETER LIST B-65150E/04 Motor model αM6 αM9 α22/1.5 α30/1.2 α40/FAN α40/2 0E 5E E1/3 E2/3 Motor specification 0162 0163 0146 0151 0158 0157 0105 0106 0101 0102 Motor model β3/3 β6/2 β1/3 β2/3 Motor specification 0033 0034 0031 0032 98.04.14 Motor type No. 25 26 27 28 29 30 33 34 35 36 Symbol P
  • Page 327B-65150E/04 6. PARAMETER LIST Motor model 50S 60S 70S 5-0 4-0S 3-0S 2-0SP 1-0SP 5S 6S Motor specification 0331 0332 0333 0531 0532 0533 0371 0372 0314 0316 Motor model α65/2 α100/2 α150/2 α2/2 Motor specification 0331 0332 0333 0372 98.04.14 Motor type No. 39 40 41 42 43 44 45 46 48 49 Symbol Parame
  • Page 3286. PARAMETER LIST B-65150E/04 Motor model 10S 20S/1.5 20S 30S 30/2 40 0L(C) 5L(C) 6L(C) 7L(C) Motor specification 0315 0505 0502 0590 0506 0581 0561 0562 0564 0571 Motor model αL3 αL6 αL9 αL25 Motor specification 0561 0562 0564 0571 98.04.14 Motor type No. 50 51 52 53 54 55 56 57 58 59 Symbol Parame
  • Page 329B-65150E/04 6. PARAMETER LIST Motor model 10L(C) 2-0SP/3 1-0SP/3 0S 5S/3 10S/3 20S/3 30S/3 0L(L) 5L(L) Motor specification 0572 0371 0373 0313 0514 0317 0318 0319 0561 0562 Motor model αL50 α1/3 α2/3 Motor specification 0572 0371 0373 98.04.14 Motor type No. 60 61 62 63 64 65 66 67 68 69 Symbol Para
  • Page 3306. PARAMETER LIST B-65150E/04 Motor model 6L(L) 7L(L) 10L(L) 6S/3 40S/2 0T/3 5T 5T/3 10T 10T/3 Motor specification 0564 0571 0572 0583 0381 0382 0383 0384 0385 Motor model Motor specification 98.04.14 Motor type No. 70 71 72 73 78 79 80 81 82 83 Symbol Parameter No. FS15-A FS0-C 1808  8 03 00001000
  • Page 331B-65150E/04 6. PARAMETER LIST Motor model 0-0SP/3 0S/1.5 5S/1.5 6S/1 10S/1 20S/0.5 Motor specification 0374 0515 0516 0520 0504 0500 Motor model α2.5/3 Motor specification 0374 98.04.14 Motor type No. 84 85 86 87 88 89 Symbol Parameter No. FS15-A FS0-C 1808  8 03 00001000 00000000 00000000 00000000
  • Page 3326. PARAMETER LIST B-65150E/04 6.2 PARAMETERS FOR STANDARD CONTROL July 1999 Series 9070 (for Series 15-B, 16, 18) Series 9060 (for Series 20, 21, Power Mate) Series 9064 (for Power Mate-E) Motor model α3HV α6HV α12HV α22HV α30HV αC3 αC6 αC12 αC22 α0.5 Motor specification 0171 0172 0176 0177 0178 012
  • Page 333B-65150E/04 6. PARAMETER LIST Motor model α3/3 α6/2 α6/3 α12/2 α12/3 α22/2 α22/3 α30/2 α30/3 αM3 Motor specification 0123 0127 0128 0142 0143 0147 0148 0152 0153 0161 Motor model Motor specification 95.08.07 Motor type No. 15 16 17 18 19 20 21 22 23 24 Symbol Parameter No. FS15-B FS16∼PM PM-E 1808 2
  • Page 3346. PARAMETER LIST B-65150E/04 Motor model αM6 αM9 α22/1.5 α30/1.2 α40/FAN α40/2 0E 5E E1/3 E2/3 Motor specification 0162 0163 0146 0151 0158 0157 0105 0106 0101 0102 Motor model β3/3 β6/2 β1/3 β2/3 Motor specification 0033 0034 0031 0032 95.08.07 Motor type No. 25 26 27 28 29 30 33 34 35 36 Symbol P
  • Page 335B-65150E/04 6. PARAMETER LIST Motor model 50S 60S 70S 5-0 4-0S 3-0S 2-0SP 1-0SP 5S 6S Motor specification 0331 0332 0333 0531 0532 0533 0371 0372 0314 0316 Motor model α65/2 α100/2 α150/2 α2/2 Motor specification 0331 0332 0333 0372 95.08.07 Motor type No. 39 40 41 42 43 44 45 46 48 49 Symbol Parame
  • Page 3366. PARAMETER LIST B-65150E/04 Motor model 10S 20S/1.5 20S 30S 30/2 40 0L(C) 5L(C) 6L(C) 7L(C) Motor specification 0315 0505 0502 0590 0506 0581 0561 0562 0564 0571 Motor model αL3 αL6 αL9 αL25 Motor specification 0561 0562 0564 0571 95.08.07 Motor type No. 50 51 52 53 54 55 56 57 58 59 Symbol Parame
  • Page 337B-65150E/04 6. PARAMETER LIST Motor model 10L(C) 2-0SP/3 1-0SP/3 0S/3 5S/3 10S/3 20S/3 30S/3 0L(L) 5L(L) Motor specification 0572 0371 0373 0313 0514 0317 0318 0319 0561 0562 Motor model αL50 α1/3 α2/3 Motor specification 0572 0371 0373 95.08.07 Motor type No. 60 61 62 63 64 65 66 67 68 69 Symbol Pa
  • Page 3386. PARAMETER LIST B-65150E/04 Motor model 6L(L) 7L(L) 10L(L) 6S/3 40S/3 0T/3 5T 5T/3 10T 10T/3 Motor specification 0564 0571 0572 0583 0381 0382 0383 0384 0385 Motor model Motor specification 95.08.07 Motor type No. 70 71 72 73 78 79 80 81 82 83 Symbol Parameter No. FS15-B FS16∼PM PM-E 1808 2003 100
  • Page 339B-65150E/04 6. PARAMETER LIST Motor model 0-0SP/3 0S/1.5 5S/1.5 6S/1 10S/1 20S/0.5 Motor specification 0374 0515 0516 0520 0504 0585 Motor model α2.5/3 Motor specification 0374 95.08.07 Motor type No. 84 85 86 87 88 89 Symbol Parameter No. FS15-B FS16∼PM PM-E 1808 2003 1003 00001000 00000000 0000000
  • Page 3406. PARAMETER LIST B-65150E/04 6.3 PARAMETERS FOR HRV CONTROL July 1999 Series 90A0 (for Series 15i, 16i, 18i, 21i, Power Mate i) Series 9090 (for Series 16i, 18i, 21i, Power Mate i) Series 9080, 9081 (for Series 15-B, 16-C, 18-C) Series 9066 (for Series 20, 21, Power Mate) Series 9065 (for Power Mat
  • Page 341B-65150E/04 6. PARAMETER LIST Motor model α3HV α6HV α12HV α22HV α30HV αC3 αC6 αC12 αC22 α0.5/3 Motor specification 0171 0172 0176 (40A) (40A) 0121 0126 0141 0145 0113 Motor model 0177 0178 β0.5/3 Motor specification 0113 99.04.30 Motor type No. 1 2 3 4 5 7 8 9 10 13 Symbol Parameter No. FS15-B FS16-
  • Page 3426. PARAMETER LIST B-65150E/04 Motor model α3/3 α6/2 α6/3 α12/2 α12/3 α22/2 α22/3 α30/2 α30/3 αM3 Motor specification 0123 0127 0128 0142 0143 0147 0148 0152 0153 0161 Motor model Motor specification 99.04.30 Motor type No. 15 16 17 18 19 20 21 22 23 24 Symbol Parameter No. FS15-B FS16-C∼PM PM-E 1808
  • Page 343B-65150E/04 6. PARAMETER LIST Motor model αM6 αM9 α22/1.5 α30/1.2 α40/FAN α40/2 αE3/3 αE6/2 αE1/3 αE2/3 Motor specification 0162 0163 0146 0151 0158 0157 0105 0106 0101 0102 Motor model β3/3 β6/2 β1/3 β2/3 Motor specification 0033 0034 0031 0032 99.04.30 Motor type No. 25 26 27 28 29 30 33 34 35 36
  • Page 3446. PARAMETER LIST B-65150E/04 Motor model α300/1.2 α400/1.2 50S 60S 70S 5-0 4-0S 3-0S 2-0SP 1-0SP Motor specification 0335 0336 0331 0332 0333 0531 0532 0533 0371 0372 Motor model α65/2 α100/2 α150/2 α2/2 Motor specification 0331 0332 0333 0372 99.04.30 Motor type No. 37 38 39 40 41 42 43 44 45 46 S
  • Page 345B-65150E/04 6. PARAMETER LIST Motor model 5S 6S 10S 20S/1.5 20S 30S 30/2 40 7L(C) 10L(C) Motor specification 0314 0316 0315 0505 0502 0590 0506 0581 0571 0572 Motor model αL25 αL50 Motor specification 0571 0572 99.04.30 Motor type No. 48 49 50 51 52 53 54 55 59 60 Symbol Parameter No. FS15-B FS16-C∼
  • Page 3466. PARAMETER LIST B-65150E/04 Motor model 2-0SP/3 1-0SP/3 0S/3 5S/3 10S/3 20S/3 30S/3 αL3 αL6 αL9 Motor specification 0371 0373 0313 0514 0317 0318 0319 0561 0562 0564 Motor model α1/3 α2/3 (HRV) (HRV) (HRV) Motor specification 0371 0373 99.04.30 Motor type No. 61 62 63 64 65 66 67 68 69 70 Symbol P
  • Page 347B-65150E/04 6. PARAMETER LIST Motor model 7L(L) 10L(L) 6S/3 40S/2 0T/3 5T 5T/3 10T 10T/3 0-0SP/3 Motor specification 0571 0572 0583 0381 0382 0383 0384 0385 0374 Motor model α2.5/3 Motor specification 0374 99.04.30 Motor type No. 71 72 73 78 79 80 81 82 83 84 Symbol Parameter No. FS15-B FS16-C∼PM PM
  • Page 3486. PARAMETER LIST B-65150E/04 Motor model 0S/1.5 5S/1.5 6S/1 10S/1 20S/0.5 1500A 3000B 6000B 9000B 15000C Motor specification 0515 0516 0520 0504 0585 0410 0411 0412 0413 0414 Motor model Motor specification 99.04.30 Motor type No. 85 86 87 88 89 90 91 92 93 94 Symbol Parameter No. FS15-B FS16-C∼PM
  • Page 349B-65150E/04 6. PARAMETER LIST Motor model αM2 αM2.5 αM22 αM30 α22/3HV α30/3HV αM6HV αM9HV αM22HV αM30HV Motor specification 0376 0377 0165 0166 (60A) (60A) 0182 0183 0185 0186 Motor model 0177 0178 Motor specification 99.04.30 Motor type No. 98 99 100 101 102 103 104 105 106 107 Symbol Parameter No.
  • Page 3506. PARAMETER LIST B-65150E/04 Motor model αM40/3 αM40 α300/2 α400/2 Motor specification With FAN 0169 0337 0338 Motor model 0170 Motor specification 99.04.30 Motor type No. 108 110 111 112 Symbol Parameter No. FS15-B FS16-C∼PM PM-E 1808 2003 1003 00001000 00001000 00001000 00001000 1809 2004 1004 01
  • Page 351APPENDI
  • Page 352A. DEFFERENCES BETWEEN THE PARAMETERS B-65150E/04 APPENDIX FOR THE Series 15-A AND Series15-B (15i-A) A DIFFERENCES BETWEEN THE PARAMETERS FOR THE Series 15-A AND Series 15-B (15i-A) (1) Overview The Series 15-A and Series 15-B incorporate servo software of different series. For some servo functions
  • Page 353A. DEFFERENCES BETWEEN THE PARAMETERS FOR THE Series 15-A AND Series 15-B (15i-A) APPENDIX B-65150E/04 <2> High-speed positioning function (See Sec. 4.8.) The Series 15-A and 15-B (15i-A) use different parameter numbers for this function. Series 15-A (Series 9046) Series 15-B, 15i-A Low-speed integr
  • Page 354A. DEFFERENCES BETWEEN THE PARAMETERS B-65150E/04 APPENDIX FOR THE Series 15-A AND Series15-B (15i-A) <5> α motor functions The Series 15-A and 15-B (15i-A) use different parameter numbers and setting methods for these functions. Series 15-A Function Series 15-B, 15i-A (Series 9046) TCMD-dependent c
  • Page 355B. ANALOG SERVO INTERFACE SETTING PROCEDURE APPENDIX B-65150E/04 B ANALOG SERVO INTERFACE SETTING PROCEDURE (1) Overview This section describes how to specify parameters for using the analog servo function with the analog servo interface unit. This analog servo function is supported in the Series 15
  • Page 356B-65150E/04 APPENDIX B. ANALOG SERVO INTERFACE SETTING PROCEDURE b) Directly enter all parameters listed in the following table. Before doing this, understand the meaning of each parameter sufficiently. For detailed descriptions about parameter setting, refer to the respective CNC Connection Manuals
  • Page 357B. ANALOG SERVO INTERFACE SETTING PROCEDURE APPENDIX B-65150E/04 [Setting example 2: One digital servo axis + one analog servo axis] The digital servo amplifier and analog servo interface unit are slaves 1 and 2, as in the sequence in which they are connected to the FSSB. Assuming that the axis conn
  • Page 358B-65150E/04 APPENDIX B. ANALOG SERVO INTERFACE SETTING PROCEDURE [Setting example 3: Five analog servo axes + two digital servo axes] The first analog servo interface unit (including expansion) is slave 1, two digital servo amplifiers are slaves 2 and 3, the second analog servo interface unit is sla
  • Page 359B. ANALOG SERVO INTERFACE SETTING PROCEDURE APPENDIX B-65150E/04 (5) Servo parameter initialization For axes connected to an analog servo circuit, initialize the servo parameters as listed below. Parameter number Name Set value Series 15i Power Mate i 1804 2000 Initialization bit 00000000 1874 2020
  • Page 360C. PARAMETERS SET WITH VALUES IN B-65150E/04 APPENDIX DETECTION UNITS C PARAMETERS SET WITH VALUES IN DETECTION UNITS If the detection unit is changed with a CMR or flexible feed gear, it is also necessary to change the parameters that are set with values in detection units. This appendix lists thes
  • Page 361C. PARAMETERS SET WITH VALUES IN DETECTION UNITS APPENDIX B-65150E/04 C.1 PARAMETERS FOR Series 15i No. Description 1827 Effective area (in-position check) for individual axis 1828 Positional deviation limit for individual axis during movement 1829 Positional deviation limit for individual axis at s
  • Page 362C. PARAMETERS SET WITH VALUES IN B-65150E/04 APPENDIX DETECTION UNITS No. Description 5592 Straightness compensation magnification 5593 Straightness compensation magnification 5594 Straightness compensation magnification 5595 Straightness compensation magnification − 357 −
  • Page 363C. PARAMETERS SET WITH VALUES IN DETECTION UNITS APPENDIX B-65150E/04 C.2 PARAMETERS FOR Series 15-B No. Description 1827 Effective area (in-position check) for individual axis 1828 Positional deviation limit for individual axis during movement 1829 Positional deviation limit for individual axis at
  • Page 364C. PARAMETERS SET WITH VALUES IN B-65150E/04 APPENDIX DETECTION UNITS No. Description 5593 Straightness compensation magnification 5594 Straightness compensation magnification 5595 Straightness compensation magnification − 359 −
  • Page 365C. PARAMETERS SET WITH VALUES IN DETECTION UNITS APPENDIX B-65150E/04 C.3 PARAMETERS FOR Series 16, 18, AND 21 No. Description 1821 Reference counter capacity for individual axis 1826 Effective area (in-position check) for individual axis 1827 Effective area (in-position check) for individual axis a
  • Page 366C. PARAMETERS SET WITH VALUES IN B-65150E/04 APPENDIX DETECTION UNITS No. Description Limit to difference in positional deviation between master and slave axes (more than one pair under simplified 8323 synchronization control) 8325 Maximum compensation for synchronization (more than one pair under s
  • Page 367C. PARAMETERS SET WITH VALUES IN DETECTION UNITS APPENDIX B-65150E/04 C.5 PARAMETERS FOR THE Power Mate i No. Description 1821 Reference counter capacity for individual axis 1826 Effective area (in-position check) for individual axis 1827 Effective area (in-position check) for individual axis at cut
  • Page 368C. PARAMETERS SET WITH VALUES IN B-65150E/04 APPENDIX DETECTION UNITS The parameter No. indicated with an asterisk (*) is related to a function unique to the Power Mate. The parameter No. suffixed with "(D)" are related to the functions dedicated to the Power Mate i-D. The parameter No. suffixed wit
  • Page 369D. FUNCTION-SPECIFIC SERVO PARAMETERS APPENDIX B-65150E/04 D FUNCTION-SPECIFIC SERVO PARAMETERS ✰ : Parameters set up automatically or cleared at initialization Parenthesized parameters : Common parameters that are also used for other functions Parameter number Series 16, Power Meaning Series 15 18,
  • Page 370B-65150E/04 APPENDIX D. FUNCTION-SPECIFIC SERVO PARAMETERS ✰ : Parameters set up automatically or cleared at initialization Parenthesized parameters : Common parameters that are also used for other functions Parameter number Series 16, Power Meaning Series 15 18, 20, 21, Mate-E Power Mate [Machine-r
  • Page 371D. FUNCTION-SPECIFIC SERVO PARAMETERS APPENDIX B-65150E/04 ✰ : Parameters set up automatically or cleared at initialization Parenthesized parameters : Common parameters that are also used for other functions Parameter number Series 16, Power Meaning Series 15 18, 20, 21, Mate-E Power Mate [Shape-err
  • Page 372B-65150E/04 APPENDIX D. FUNCTION-SPECIFIC SERVO PARAMETERS ✰ : Parameters set up automatically or cleared at initialization Parenthesized parameters : Common parameters that are also used for other functions Parameter number Series 16, Power Meaning Series 15 18, 20, 21, Mate-E Power Mate [High-spee
  • Page 373D. FUNCTION-SPECIFIC SERVO PARAMETERS APPENDIX B-65150E/04 ✰ : Parameters set up automatically or cleared at initialization Parenthesized parameters : Common parameters that are also used for other functions Parameter number Series 16, Power Meaning Series 15 18, 20, 21, Mate-E Power Mate [Abnormal-
  • Page 374B-65150E/04 APPENDIX D. FUNCTION-SPECIFIC SERVO PARAMETERS ✰ : Parameters set up automatically or cleared at initialization Parenthesized parameters : Common parameters that are also used for other functions Parameter number Series 16, Power Meaning Series 15 18, 20, 21, Mate-E Power Mate [Tandem co
  • Page 375B-65150E/04 INDEX [α] Dummy serial feedback functions, 188 α series parameter adjustment, 39 [E] [2] Emergency stop distance reduction function type 1, 197 Emergency stop distance reduction function type 2, 200 250 µsec acceleration feedback function, 103 [F] [A] FAD (fine acceleration/deceleration)
  • Page 376INDEX B-65150E/04 List of servo functions, 93 reduction function, 201 Low-speed integration function, 175 Servo adjustment screen, 40 Servo alarm 2-axis simultaneous monitor function, 255 [M] Servo auto tuning, 272 Servo check board operating procedure, 278 Machine speed feedback function, 112 Servo
  • Page 377TECHNICAL REPORT (MANUAL) No. TM 99/045 Date 10.21.1999 General Manager of Servo Laboratory Notice of the update of Digital Servo Software 90A0 series 1. Distribute this report to the destinations marked with Your information GE Fanuc-N, GE Fanuc-E Fanuc Robotics-NA, Fanuc Robotics-E CINCINNATI MILA
  • Page 378Notice of the update of Digital Servo Software 90A0 series 1. Type of applied documents Name FANUC AC SERVO MOTOR Alpha series Parameter manual Spec. No./Ver. B-65150E/04 2. Summary of Change Group Name / Outline New, Add Applicable Correct, Del Date Basic Function 1. Function for Changing the Add P
  • Page 379Notice of the update of Digital Servo Software 90A0 series We report the update of Digital Servo Software 90A0 series. 1. Update Edition ROM series Old edition New edition Available CNC 90A0 001Q (17) 001R (18) FS15i , 16i, 18i (with servo card equipped with 320C543) 2. Content of change - Function
  • Page 380Support of Function for Changing the Proportional Gain Attached 1.Support in the Stop State in the AI nano contour control mode. 1. Outline An excessively high velocity gain may cause a high-frequency vibration when at stopping. In such a case, you can reduce the velocity loop proportional gain to 7
  • Page 381TECHNICAL REPORT (MANUAL) No. TM 99/049E Date December 2, 1999 General Manager of Servo Laboratory Notice of the update of Digital Servo Software 90A0 series 1. Distribute this report to the destinations marked with Your information GE Fanuc-N, GE Fanuc-E Fanuc Robotics-NA, Fanuc Robotics-E CINCINNA
  • Page 382Notice of the update of Digital Servo Software 90A0 series 1. Type of applied documents Name FANUC AC SERVO MOTOR Alpha series Parameter manual Spec. No./Ver. B-65150E/04 2. Summary of Change Group Name / Outline New, Add Applicable Correct, Del Date Basic Function 1. Parameter table has been change
  • Page 383Notice of the update of Digital Servo Software 90A0 series We report the update of Digital Servo Software 90A0 series. 1. Update Edition ROM series Old edition New edition Available CNC 90A0 001R(18) 001U (21) FS15i , 16i, 18i (with servo card equipped with 320C543) 2. Content of change - A standard
  • Page 384Attached 1. About the change of parameter table. We have changed the standard parameter table about the following motors. The purpose of change is to improve the stability at high speed. (Bold-bordered parameters are changed part from the previous one.) α12/3000, α22/3000,=α30/3000,=α22/3000HV,=α12/
  • Page 385TECHNICAL REPORT (MANUAL) No. TMS00/006 Date: Jan 31, 2000 General Manager of Servo Laboratory Notice of the update of Digital Servo Software 90A0/W (23) 1. Distribute this report to the destinations marked with O Your information O GE Fanuc-N, GE Fanuc-E Fanuc Robotics-NA, Fanuc Robotics-E CINCINNA
  • Page 386Notice of the update of Digital Servo Software 90A0 series 1. Type of applied documents Name FANUC AC SERVO MOTOR Alpha series Parameter manual Spec. No./Ver. B-65150E/04 2. Summary of Change New, Add Applicable Group Name / Outline Correct, Del Date Basic Function Torque control type 2 has been cor
  • Page 387Notice of the update of Digital Servo Software 90A0 series We report the update of Digital Servo Software 90A0 series. 1. Update Edition ROM series Old edition New edition Available CNC FS15i , 16i, 18i 90A0 001U (21) 001W (23) (with servo card equipped with 320C543) 2. Content of change - Torque co
  • Page 388Attachment 1: Correction of torque control type 2 1. Outline The following phenomenon occurs in torque control type 2. We report the correction of torque control type 2 in this update of digital servo software. 2. Phenomenon When the constant torque command is given by PMC with using torque control
  • Page 389TECHNICAL REPORT (MANUAL) NO. TMS00/007 Date January. 18. 2000 General Manager of Servo Laboratory Notice of the update of Digital Servo Software 9090 series 1. Distribute this report to the destinations marked with O Your information O GE Fanuc-N, GE Fanuc-E Fanuc Robotics-NA, Fanuc Robotics-E CINC
  • Page 390Notice of the update of Digital Servo Software 9090 series 1. Type of applied documents Name FANUC AC SERVO MOTOR α series Parameter manual Spec. No./Ver. B-65150E/04 2. Summary of Change Group Name / Outline New, Add Applicable Correct, Del Date Basic Function 1. Parameter table is changed. Changed
  • Page 391Notice of the update of Digital Servo Software 9090 series We report the update of Digital Servo Software 9090 series. 1. Update Edition ROM series Old edition New edition Available CNC 9090 001M (13) 001O (15) FS-16i, 18i, 21i, Power Mate i-D, i-H 2. Content of change - Parameter table is changed.
  • Page 392Attachment 1: About the change of parameter table. We have changed the standard parameter table about the following motors (Table1). The purpose of change is to improve the stability at high speed. α12/3000,α22/3000, α30/3000, α22/3000HV, α12/3000HV, α30/3000HV, α30/3000HV Table 1 Motor model α 12HV
  • Page 393TECHNICAL REPORT (MANUAL) No. TMS00/013 Date , 2000 General Manager of Servo Laboratory Correct the servo parameter setting description. 1. Distribute this report to the destinations marked with Your information GE Fanuc-N, GE Fanuc-E Fanuc Robotics-NA, Fanuc Robotics-E CINCINNATI MILACRON Machine t
  • Page 394Correction of Servo Parameter Setting Description. 1. Type of applied documents Name FANUC AC SERVO MOTOR Alpha series Parameter manual Spec. No./Ver. B-65150E/04 2. Summary of Change Group Name / Outline New, Add Applicable Correct, Del Date Basic Function Optional Function Unit Maintenance Parts N
  • Page 395Correction of Servo Parameter Setting Description. 2.1.4 (4) Setting parameters [Before correction] Parameter No. Remarks 2000#0 1 2023 8192/10/2 2024 160000/10/2 2043 (Value to be set originally)/2 2044 (Value to be set originally)/2 2047 (Value to be set originally)*2 2053 (Value to be set origina
  • Page 396TECHNICAL REPORT (MANUAL) No. TMS00/015E Date: , 2000 General Manager of Servo Laboratory Correction of FANUC AC SERVO MOTOR α series PARAMATER MANUAL 1. Distribute this report to the destinations marked with Your information GE Fanuc-N, GE Fanuc-E Fanuc Robotics-NA, Fanuc Robotics-E CINCINNATI MILA
  • Page 397Correction of FANUC AC SERVO MOTOR α series PARAMETER MANUAL 1. Type of applied documents Name FANUC AC SERVO MOTOR α series PARAMETER MANUAL Spec. No./Ver. B-65150E/04 2. Summary of Change Group Name / Outline New, Add Applicable Correct, Del Date Basic Function Optional Function Unit Maintenance P
  • Page 398Correction of the servo parameter manual P17 2.1.3 (9) Specify the number of position pulses ADD supplementary explanation for the "Ns" value in following parentheses. Ns: Number of position pulses from the separate detector when the motor makes one turn (Value after multiplication by four, where DM
  • Page 399Correct: Parameter No. Remarks 2000#0 1 2023 8192/10/2 2024 160000/10/2 2043 (Value to be set originally)/2 2044 (Value to be set originally)/2 2047 (Value to be set originally)*2 2053 (Value to be set originally)*2 2054 (Value to be set originally)/2 2056 (Value to be set originally)/2 2059 (Value
  • Page 400P40 3.1 SERVO ADJUSTMENT SCREEN CORRECT the caption of Fig.3.1 (a). Wrong: Fig.3.1 (a) Diagnosis screen Correct: Fig.3.1 (a) Adjustment screen P41 3.1 SERVO ADJUSTMENT SCREEN DELETE <22> in "Fig.3.1 (b) Diagnosis screen". Because <22> alarm 9 is not displayed in the screen. Correct: <9> <20> <10> <2
  • Page 401P58 3.3.5 Overshoot CORRECT the wrong bit meaning. Wrong: #7 #6 #5 #4 #3 #2 #1 #0 No.1953 No.8X09 OVS1 − − OVS1 (#3) 2: Enables overshoot compensation TYPE-2. Correct: #7 #6 #5 #4 #3 #2 #1 #0 No.1953 No.8X09 OVS1 − − OVS1 (#3) 1: Enables overshoot compensation TYPE-2. P93 4.1 LIST OF SERVO FUNCTIONS
  • Page 402P98 4.2 HRV CONTROL (3) Improved functions available with HRV control <2> Abnormal load detection CORRECT the wrong location of bit parameter. Wrong: [For Series 9080, 9090, and 90A0] #7 #6 #5 #4 #3 #2 #1 #0 1740 − IQOB 2200 − Correct: [For Series 9080, 9090, and 90A0] #7 #6 #5 #4 #3 #2 #1 #0 1740 −
  • Page 403P172 4.8.1 Position Gain Switch Function (3) Setting parameters CORRECT the wrong parameter number. Wrong: 1972 (Series 15-A) 8X79 1714 (Series 15-B, 15i) Limit speed for enabling position gain switching (in units of 0.01 rpm) 2029 1029 The position gain is doubled with a speed lower than or equal t
  • Page 404P219 4.14.1 Procedure for Setting the Initial Parameters of Linear Motors (3) Setting parameters Parameter setting procedure (2) CORRECT the wrong reference number of "Setting parameters Table" Wrong: Table 4.14.1(2) Correct: Table 4.14.1(c) (d) P255 4.17.4 Servo Alarm 2-axis Simultaneous Monitor Fu
  • Page 405P284 4.19 (5) VCMD signal CORRECT velocity conversion values for linear motor Wrong: Parameters for linear motor VCM2 VCM1 Specified velocity/5 V 0 0 0.075 m/min 0 1 1.2 m/min 1 0 19.2 m/min 1 1 307.2 m/min Correct: Parameters for linear motor (P=signal pitch[µ µm]) VCM2 VCM1 Specified velocity/5 V
  • Page 406P308 4.19 (4)-(a) Selecting signals for observation (a) Servo check board A (one-piece analog/digital type) CORRECT the wrong signal name and wrong bit meaning. (REVS → RVRSE) Wrong: #7 #6 #5 #4 #3 #2 #1 #0 1960 − PFBC MOVO REVS 2018 − REVS (#0) The direction of the serial type scale ⇒ See Subsec. 2
  • Page 407Notice of the update of Digital Servo Software 9090 series 1. Type of applied documents Name FANUC AC SERVO MOTOR α series Parameter manual Spec. No./Ver. B-65150E/04 2. Summary of Change Group Name / Outline New, Add Applicable Correct, Del Date Basic Function 1. Parameter table is changed. Changed
  • Page 408Notice of the update of Digital Servo Software 9090 series We report the update of Digital Servo Software 9090 series. 1. Update Edition ROM series Old edition New edition Available CNC 9090 O (15) P (16) FS-16i, 18i, 21i, PowerMate i-D, i-H 2. Content of change - We’ve changed and added parameters
  • Page 409Attached 1. About the change of parameter table. We’ve changed following parameters. Motor Model α2.5/3000 αM2.5/3000 α300/2000 α400/2000 α1000/2000 Motor Spec. 0374 0377 0137 0138 0131 Motor ID 84 99 115 116 117 FS16,18,21,PM Symbol No. 2003 00001000 00001000 00001000 00001000 00001000 Newly added
  • Page 410TECHNICAL REPORT (MANUAL) No. TM / Date , 2000 General Manager of Servo Laboratory Notice of the update of Digital Servo Software 90A0/X(24) 1. Distribute this report to the destinations marked with Your information GE Fanuc-N, GE Fanuc-E Fanuc Robotics-NA, Fanuc Robotics-E CINCINNATI MILACRON Machi
  • Page 411Notice of the update of Digital Servo Software 90A0 series 1. Type of applied documents Name FANUC AC SERVO MOTOR Alpha series Parameter manual Spec. No./Ver. B-65150E/04 2. Summary of Change Group Name / Outline New, Add Applicable Correct, Del Date Basic Function 1. Parameter table Change 2000.06
  • Page 412Notice of the update of Digital Servo Software 90A0 series We report the update of Digital Servo Software 90A0 series. 1. Update Edition ROM series Old edition New edition Available CNC 90A0 001W (23) 001X(24) FS15i , 16i, 18i (with servo card equipped with 320C543) 2. Content of change - Parameter
  • Page 413Attached 1. Parameter table change Parameter table has been changed as the table 1.1, 1.2. Changed points are as follows. • Parameters for α2.5 and αM2.5 have been changed. • Parameters for α300/1200, α400/1200, α300/2000, α400/2000, α1000/2000, α40HV, αM40HV, 3000B/4, 6000B/4, 9000B/4, 15000C/3, 30
  • Page 414Note) Bold-bordered parameters are changed part from the previous one. Table 1.1 Symbol Motor model α2.5/3 αM2.5 α300/1.2 α400/1.2 α300/2 α400/2 α1000/2 α40HV αM40HV Motor specification 0374 0377 0135 0136 0137 0138 0131 0179 0189 Motor type No. 84 99 113 114 115 116 117 118 119 Parameter No. FS15-B
  • Page 415Note) Bold-bordered parameters are changed part from the previous one. Table 1.2 Symbol Motor model 3000B/4 6000B/4 9000B/4 15000C/3 300D/4 600D/4 900D/4 Motor specification 0411- 0412- 0413- 0414- 0421 0422 0423 B811 B811 B811 B811 Motor type No. 120 121 122 123 124 125 126 Parameter No. FS15-B FS1
  • Page 416Attached 2. Unexpected disturbance detection performed separately for cutting and rapid traverse (1) Overview Unexpected disturbance detection performed separately for cutting and rapid traverse was made so that an alarm level can be set separately for cutting and rapid traverse. But if No.1800#3 is
  • Page 417Notice of the update of Digital Servo Software 90B0 series (Revised Edition) 1. Type of applied documents Name FANUC AC SERVO MOTOR Alpha series Parameter manual Spec. No./Ver. B-65150E/04 2. Summary of Change Group Name / Outline New, Add Applicable Correct, Del Date 1. Parameter table Add,Change 2
  • Page 418Notice of the update of Digital Servo Software 90B0 series We report the update of Digital Servo Software 90B0 series. 1. Update Edition ROM series Old edition New edition Available CNC FS15i , 16i, 18i 90B0 001A (01) 001B(02) (with servo card equipped with 320C5410) 2. Content of change - Parameter
  • Page 419Attached 1. Parameter table change Parameter table has been changed as the table 1.1, 1.2. Changed points are as follows. • Parameters for α2.5 and αM2.5 have been changed. • Parameters for α300/1200, α400/1200, α300/2000, α400/2000, α1000/2000, α40HV, αM40HV, 3000B/4, 6000B/4, 9000B/4, 15000C/3, 30
  • Page 420Note) Bold-bordered parameters are changed part from the previous one. 14 motors are newly added. (Motor type No. 113 - 126) Table 1.1 Symbol Motor model 2.5/3 M2.5 300/1.2 400/1.2 300/2 400/2 1000/2 40HV M40HV Motor specification 0374 0377 0135 0136 0137 0138 0131 0179 0189 Motor type No. 84 99 113
  • Page 421Table 1.2 Symbol Motor model 3000B/4 6000B/4 9000B/4 15000C/3 300D/4 600D/4 900D/4 0411- 0412- 0413- 0414- Motor specification 0421 0422 0423 B811 B811 B811 B811 Motor type No. 120 121 122 123 124 125 126 Parameter No. FS15-B FS16-C-PM PM-E 1808 2003 1003 00001000 00001000 00001000 00001000 00001000
  • Page 422Attached 2. SERVO HRV3 Control (1) Definition of SERVO HRV3 SERVO HRV3 is improved control of HRV Control, Level-up HRV Control which Fanuc has provided until now. From now on, HRV Control, Level-up HRV Control are named as follows. 1995. Jun. HRV Control SERVO HRV1 < 02 > 1998. Jul. Level-up HRV
  • Page 423(3) Application Example (3-1) Effect of SERVO HRV3 Linear Motor X-Y Table Circle (R100mm,F30m/min) SERVO HRV 2 SERVO HRV 3 Path error 7 µm Path error 4 µm 5µm/div 5µm/div (3-2) Effect of Disturbance Elimination Filter Conventional Control Disturbance Elimination Filter Vibration Vibration Eliminated
  • Page 424(4) Hardware for High Speed HRV current control in Servo HRV3 - Servo Motor : Linear Motor or αM series Motor (αA 1000 pulse coder is recommended) - Applicable CNC : Series15i/16i/18i - Servo Amplifier : αSVM1 (40Ap – 130Ap) or αSVM2 (40Ap – 130Ap) - New Outer detector I/F unit (In case using outer
  • Page 425(6) Hardware and software for HRV3 Control Construction of HRV3 CNC 1) CPU SV Axis Card Control 7) Card 6) Servo CNC Software Software High Speed HRV 90B0 Series is not used. FSSB Cable-2 2) FSSB Cable-1 High Speed HRV is used. All FSSB 3) 4) AMP. can SV AMP. New Separate be used. listed in the dete
  • Page 4267/8 axes (Type A) A02B-0236-J357  For Learning Control 7/8 axes (Type B) A02B-0236-J358  For Learning Control Please refer to the manual that is released from each CNC in order to know the details of servo axis control card. 2) Following option is necessary for “High Speed HRV current control” fun
  • Page 4276) System Software CNC Drawing No. FS 15i-M Basic A02B-0261-H501#F006/03 or later Boot A02B-0261-H500#60i8/07 or later FS 15i-MA Basic A02B-0261-H531#F606/03 or later Boot A02B-0261-H500#60i8/07 or later FS 16i/160i/160is –MA Basic A02B-0237-H501#B0F2/18 or later FS 16i/160i/160is –TA Basic A02B-023
  • Page 428(7) Limitation in case of using High Speed HRV current control in Servo HRV3 - Servo axis control card There are 2 types of Servo axis control card. (a) Type A : 1 optical connector (Maximum number of axis is 8 axes.) (b) Type B : 2 optical connectors (Maximum number of axis is 8 axes.) SV CARD SV C
  • Page 429(8) System Structure Examples (1) Servo HRV2 (Level-up HRV) Current Servo FSSB All α-SVM Axis control All β-S VU Under 8 axes card Servo Software: 90A0 series (2) Servo HRV3 (Without High Speed HRV) On this structure, you can use “Disturbance Elimination Filter”. New Servo All α-SVM Axis control All
  • Page 430TECHNICAL REPORT (MANUAL) No. TMS00/25 Date , 2000 General Manager of Servo Laboratory Notice of the update of Digital Servo Software 90A0/Y (25) 1. Distribute this report to the destinations marked with Your information GE Fanuc-N, GE Fanuc-E Fanuc Robotics-NA, Fanuc Robotics-E CINCINNATI MILACRON
  • Page 431Notice of the update of Digital Servo Software 90A0 series 1. Type of applied documents Name FANUC AC SERVO MOTOR Alpha series Parameter manual Spec. No./Ver. B-65150E/04 2. Summary of Change Group Name / Outline New, Add Applicable Correct, Del Date Basic Function 1. Parameter table Correct 2000.07
  • Page 432Notice of the update of Digital Servo Software 90A0 series We report the update of Digital Servo Software 90A0 series. 1. Update Edition ROM series Old edition New edition Available CNC 90A0 001X (24) 001Y(25) FS15i , 16i, 18i (with servo card equipped with 320C543) 2. Content of change - The standa
  • Page 433Attached 1. The change of parameter table We have changed the standard parameter of linear motor 3000B/4 (motor No.120) which had been added in servo software 90A0/X(24). Because when the standard parameter of linear motor 3000B/4 is loaded, the parameter No.1954#2(FS15i) and No.2010#2(FS16i, 18 i)
  • Page 434Tandem Disturbance Elimination Control Specification Manual 1. Type of applied documents Name FANUC AC SERVO MOTOR a Series PARAMETER MANUAL Spec. No./Ver. B-65150E/04 2. Summary of Change Group Name / Outline New, Add Applicable Correct, Del Date Basic Function Optional Tandem Disturbance Eliminati
  • Page 4351. Overview In Position Tandem Control (Simple Synchronous Control) operation, this function can eliminate the oscillation caused by the interference between Main-axis and Sub-axis. NC Servo Disturbance Command + + + + Velocity fbm Position Velocity Kt/Jm s control control - + Main Motor Main-axis V
  • Page 4364. Setting parameters Tcmd(m) Tandem Disturbance Velocity fbm Elimination Control 2325(S)   + + Phase compensatio + -  2036(S) 2325(S) 2036(S) Tcmd(s) Velocity fbs #7 #6 #5 #4 #3 #2 #1 #0 1709(FS15) TANDMP 2019(FS16) TANDMP(#1) Tandem Disturbance Elimination Control function (Set this pa
  • Page 4371721(FS15) Phase coefficient α 2036(FS16) Damping compensation phase coefficient α (Set this parameter for Sub-axis only) [Valid data range] 51 to 512 (0.1 < α < 1) [Standard setting] 0 (If 0 is set, this parameter is internally handled as 512) [Setting method] Setting value 512 means 0 degree as
  • Page 4385. Tuning procedure 1. Tune the integral gain Ki after Tandem Disturbance Elimination Control function gets valid. 2. First of all, observe the oscillation of torque command both Main-axis and Sub-axis by using the digital check-board. 3. If the oscillation phase of torque command is shifted about 1
  • Page 439Notice of the update of Digital Servo Software 90B0 series 1. Type of applied documents Name FANUC AC SERVO MOTOR Alpha series Parameter manual Spec. No./Ver. B-65150E/04 2. Summary of Change Group Name / Outline New, Add Applicable Correct, Del Date Basic Function 1. Unexpected disturbance detectio
  • Page 440Notice of the update of Digital Servo Software 90B0 series We report the update of Digital Servo Software 90B0 series. 1. Update Edition ROM series Old edition New edition Available CNC FS15i , 16i, 18i 90B0 001B (02) 001C(03) (with servo card equipped with 320C5410) 2. Content of change - Unexpecte
  • Page 441Attached 1. Unexpected disturbance detection performed separately for cutting and rapid traverse (1) Overview Unexpected disturbance detection performed separately for cutting and rapid traverse was made so that an alarm level can be set separately for cutting and rapid traverse. But if No.1800#3 is
  • Page 442b) When unexpected disturbance detection performed separately for cutting and rapid traverse is used with No.1800#3=1, please enable the following bit, too. #7 #6 #5 #4 #3 #2 #1 #0 2603 (FS15i) ABT2 2215 (FS16i) ABT2(#7) 1: Regardless of No.1800#3, ABTSH is used for cutting, and ABTSHG0 is used for
  • Page 443Attached 2. Correction of the torque control type 2 1. Outline The following phenomenon occurs in the torque control type 2. We report the correction of the torque control type 2 in this update of digital servo software. 2. Phenomenon When the constant torque command is given by PMC with using the t
  • Page 444Notice of the update of Digital Servo Software 90A5 series 1. Type of applied documents Name FANUC AC SERVO MOTOR Alpha series Parameter manual Spec. No./Ver. B-65150E/04 2. Summary of Change New, Add Applicable Group Name / Outline Correct, Del Date Basic Function 1. Running time shortening functio
  • Page 445Notice of the update of Digital Servo Software 90A5 series We report the update of Digital Servo Software 90A5 series. 1. Update Edition ROM series Old edition New edition Available CNC FS16i , 18i, 21i 90A5 001B (02) 001C (03) (with servo card equipped with 320C543) 2. Content of change - Running t
  • Page 446Attached 1. Running time shortening function (1) Overview Servo software 90A5 series, which is applicable to the Dual Check Safety function, needs more running time than servo software 90A0 series because the programs for the Dual Check Safety function are executed in addition to normal servo progra
  • Page 447TECHNICAL REPORT (MANUAL) No. TMS01/005E Date: Mar 01, 2001 General Manager of Servo Laboratory Servo Tuning Tool FANUC i TUNE 1. Distribute this report to the destinations marked with Your information GE Fanuc-N, GE Fanuc-E Fanuc Robotics-NA, Fanuc Robotics-E CINCINNATI MILACRON Machine tool builde
  • Page 448Servo Tuning Tool FANUC TUNEi 1. Type of applied documents Name FANUC AC SERVO MOTOR Alpha series Parameter manual Spec. No./Ver. B-65150E/04 2. Summary of Change Group Name / Outline New, Add Applicable Correct, Del Date Basic Function Optional Function Unit Maintenance Parts Notice Correction Anot
  • Page 449FANUC i TUNE As we’ve developed Servo Tuning Tool “FANUC iTUNE”, we’ll show you the information. (We are sorry, but we’ve finished the development only in Japanese for now. We’ll provide the English version in the next edition.) [Features] i TUNE has following features. - Integrated tuning tool for
  • Page 450[Environment] It’s necessary to prepare following configuration of hardware and software to use this software. CNC Series 16i, 18i 21i -MODEL B or later (Note1) Personal computer PC/AT compatible machines (An Ethernet port is indispensable.) CPU Pentium 200MHz or over recommended OS - Microsoft Wind
  • Page 451(Note4) You may meet “the lack of resource” when you use it on Windows98/Me and you open several “Parameter Windows” and several “Graph Windows” at the same time. So we’ll recommend Windows NT/2000. (Note5) You can’t use online help if you don’t install Internet Explore 4.01 or later. (Note6) You ne
  • Page 452Typical parameter pages Servo system Display CNC options about Servo functions setting Servo axis setting Outer detector or not, Rotary Motor or Linear Motor, CMR, FFG ,etc… Acc./Dec. Acceleration time before/after interpolation, Corner Deceleration, Radius Deceleration, Deceleration by acceleration
  • Page 453(Graph Window) - Data plot mode Time plot : Time ordered data (Position, Velocity and Acceleration) (YT mode) Measurement of the signal smoothness (DYDY mode) Measurement of tangent speed (XTVT mode) Measurement of synchronization between two axes (Synchro mode) X-Y plot : Moving path trace (XY mode
  • Page 454(Program Window) - Support for making test programs for tuning One path linear Acc./Dec. program Circle program Square program Square with four 1/4 arc program Rigid tapping program Square with four 1/4 arc program by Cs contour control - Program path preview - Transmission of the programs to CNC No
  • Page 455TECHNICAL REPORT (MANUAL) No. TM 01/019 Date , 2001 General Manager of Servo Laboratory Notice of the update of Digital Servo Software 9090/Q(17) 1. Distribute this report to the destinations marked with Your information GE Fanuc-N, GE Fanuc-E Fanuc Robotics-NA, Fanuc Robotics-E CINCINNATI MILACRON
  • Page 456Notice of the update of Digital Servo Software 9096 series 1. Type of applied documents Name FANUC AC SERVO MOTOR Alpha series Parameter manual Spec. No./Ver. B-65150E/04 2. Summary of Change Group Name / Outline New, Add Applicable Correct, Del Date Basic Function 1. Torque Control Function type 1
  • Page 457Notice of the update of Digital Servo Software 9090 series We report the update of Digital Servo Software 9090 series. 1. Update Edition ROM series Old edition New edition Available CNC 9090 001P(16) 001Q(17) FS21i, PowerMate i, FS16/18i loader axis (with servo card equipped with 320C52) 2. Content
  • Page 458Attached 1. Correction of Torque Control Function type 1 [ Outline ] When Torque Control Function type 1 is used in PMC axis control, there is a case that the alarm 401 “n axis : VRDY OFF” is detected by mistake when PMC axis control is made invalid by inputting reset signal(G142#6). We have correct
  • Page 459TECHNICAL REPORT (MANUAL) No. TMS 01/001 Date 01.02 , 2001 General Manager of Servo Laboratory Notice of the update of Digital Servo Software 90B0/E(05) 1. Distribute this report to the destinations marked with Your information GE Fanuc-N, GE Fanuc-E Fanuc Robotics-NA, Fanuc Robotics-E CINCINNATI MI
  • Page 460Notice of the update of Digital Servo Software 90B0 series 1. Type of applied documents Name FANUC AC SERVO MOTOR Alpha series Parameter manual Spec. No./Ver. B-65150E/04 2. Summary of Change Group Name / Outline New, Add Applicable Correct, Del Date Basic Function 1. ‘2 axis simultaneously retrace
  • Page 461Notice of the update of Digital Servo Software 90B0 series We report the update of Digital Servo Software 90B0 series. 1. Update Edition ROM series Old edition New edition Available CNC 90B0 001C (03) 001E(05) FS15i , 16i, 18i (with servo card equipped with 320C5410) 2. Content of change - ‘2 axis s
  • Page 462Attached 1. ‘2 axis simultaneously retrace function’ during ‘Unexpected disturbance torque detection function’ (1) Overview Unexpected disturbance torque detection function includes a feature that, ‘when disturbance torque is detected on an axis, the axis is retraced in the opposite direction to fee
  • Page 463Attached 2. ‘Dynamic friction compensation method’ for ‘Unexpected disturbance torque detection function’ (1) Overview When ‘unexpected disturbance torque detection function’ is used, disturbance torque from outside is calculated then dynamic friction is subtracted. This value is used for monitoring
  • Page 464Fig-1: Usual compensation method Amount of dynamic friction compensation No.1727(FS15i) No.2116(FS16i) Dynamic friction compensation value 1000min-1 Velocity Compensation value at a speed of 1000min-1 is set in 10mv unit. Then proportional value to velocity is compensated as a dynamic friction. Fig-
  • Page 4652) And the next, please measure an estimated disturbance torque at a speed 1000min-1. Then please set the following calculated value to No.1727(FS15i), No.2116(FS16i). (In using analog check board) Setting value=|estimated disturbance torque(V)|× 100 (In using digital check board) Setting value=|est
  • Page 466TECHNICAL REPORT (MANUAL) No. TMS02/008E Date: Mar 20, 2002 General Manager of Servo Laboratory Notice of the update of Digital Servo Software 9090/R(18) 1. Distribute this report to the destinations marked with O : Your information O GE Fanuc-N, GE Fanuc-E Fanuc Robotics-NA, Fanuc Robotics-E CINCIN
  • Page 467Notice of the update of Digital Servo Software 9090 series 1. Type of applied documents Name FANUC AC SERVO MOTOR α series Parameter manual Spec. No./Ver. B-65150E/04 2. Summary of Change Group Name / Outline New, Add Applicable Correct, Del Date Basic Function 1. Parameter table was changed. Change
  • Page 468Notice of the update of Digital Servo Software 9090 series We report the update of Digital Servo Software 9090 series. 1. Update Edition ROM series Old edition New edition Available CNC 9090 001Q(17) 001R(18) FS16i, 18i, 21i, PowerMate i 2. Contents of change - Parameter table was changed. Added mot
  • Page 469Attached 1. About change of parameter table Standard parameters for the following motors were added or changed. The standard parameters for the following motors were added. The standard parameters for αHV series servo motors (α40HV, αM40HV) and linear motors (3000B/4, 6000B/4, 9000B/4, 15000C/3, 300
  • Page 470[Table 1] Motor model α40HV αM40HV 3000B/4N 6000B/4N 9000B/4N 15000C/3N 300D/4 600D/4 900D/4 Motor specification 0179 0189 0411-B811 0412-B811 0413-B811 0414-B811 0421 0422 0423 Motor type No. 118 119 120 121 122 123 124 125 126 Symbol Parameter No. FS16i/18i/21i, PMi 2003 00001000 00001000 00001000
  • Page 471[Table 2] Motor model α1000/2 Motor specification 0131 Motor type No. 117 Symbol Parameter No. FS16i/18i/21i, PMi 2003 00001000 2004 01000110 2005 00000000 2006 00000000 2010 00000000 2011 00100000 2012 00000000 2211 00000000 PK1 2040 1170 PK2 2041 -3684 PK3 2042 -2722 PK1V 2043 264 PK2V 2044 -2362
  • Page 472TECHNICAL REPORT (MANUAL) No. TMS02/009E Date: Mar 20, 2002 General Manager of Servo Laboratory Notice of the update of Digital Servo Software 90A6/D(04) 1. Distribute this report to the destinations marked with O : Your information O GE Fanuc-N, GE Fanuc-E Fanuc Robotics-NA, Fanuc Robotics-E CINCIN
  • Page 473Notice of the update of Digital Servo Software 90A6 series 1. Type of applied documents Name FANUC AC SERVO MOTOR αseries Parameter manual Spec. No./Ver. B-65150E/04 2. Summary of Change Group Name / Outline New, Add Applicable Correct, Del Date Basic Function 1. Parameter table was changed. Change
  • Page 474Notice of the update of Digital Servo Software 90A6 series We report the update of Digital Servo Software 90A6 series. 1. Update Edition ROM series Old edition New edition Available CNC 90A6 001C(03) 001D(04) FS15i , 16i, 18i, 21i (with servo card equipped with 320C543) 2. Contents of change - The s
  • Page 475Attached 1. About change of parameter table The standard parameters for linear motor 300D/4 were modified. The standard parameters for linear motor 300D/4, Motor ID=124, were modified as the following to correct the some mistakes. Parameter No. Old value New value Series 15i Series 16i/18i/21i No.18
  • Page 476TECHNICAL REPORT (MANUAL) No. TMS02/016E Date: May 22, 2002 General Manager of Servo Laboratory Notice of the update of Digital Servo Software 9085/C(03) 1. Distribute this report to the destinations marked with O : Your information O GE Fanuc-N, GE Fanuc-E Fanuc Robotics-NA, Fanuc Robotics-E CINCIN
  • Page 477Notice of the update of Digital Servo Software 9085 series 1. Type of applied documents Name FANUC AC SERVO MOTOR α series Parameter manual Spec. No./Ver. B-65150E/04 2. Summary of Change Group Name / Outline New, Add Applicable Correct, Del Date Basic Function 1. Parameter table was changed. Change
  • Page 478Notice of the update of Digital Servo Software 9085 series We report the update of Digital Servo Software 9085 series. 1. Update Edition ROM series Old edition New edition Available CNC 9085 001A 001C FS15-B, 16-C, 18-C 2. Contents of change - Parameter table was changed. Changed motor models α2.5/3
  • Page 479Attached 1. About change and addition of parameter table Standard parameters for the following motors were changed and added. n The standard parameters for the following motors were changed. The standard parameters for α series servo motors (α2.5/3000, αM2.5/3000) were changed. (See Table 1. The cha
  • Page 480[Table1] Motor model 0-0SP/3 a M2.5 Motor specification 0374 0377 Motor model a 2.5/3 Motor specification 0374 Motor type No. 84 99 Symbol Parameter No. FS15 FS16 1808 2003 00001000 00001000 1809 2004 00000110 00000110 1883 2005 00000000 00000000 1884 2006 01000100 00000000 1954 2010 00000000 000000
  • Page 481[Table2] Motor model a 300/2 a 400/2 a 1000/2 a 40HV a M40HV 3000B/4N 6000B/4N Motor specification 0137 0138 0131 0179 0189 0411-B811 0412-B811 Motor model Linear Linear Motor specification Motor type No. 115 116 117 118 119 120 121 Symbol Parameter No. FS15 FS16 1808 2003 00001000 00001000 00001000
  • Page 482[Table3] Motor model 9000B/4N 15000C/3N 300D/4 600D/4 900D/4 Motor specification 0413-B811 0414-B811 0421 0422 0423 Motor model Linear Linear Linear Linear Linear Motor specification Motor type No. 122 123 124 125 126 Symbol Parameter No. FS15 FS16,18 1808 2003 00001000 00001000 00001000 00001000 00