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Spindle alpha i Startup Manual Additional Manual Page 24

Additional Manual
2
01.05.24
24/41
Descri
p
tion
Design.
DateEd
01.03.23
SHEET
DRAW. No.
CUST.
TITLE
Y
okota
Y
okota
Newly designed
α
i series Spindle
Start-up Procedure
A
-53866E-387/02
FANUC LTD
1
FS0 FS15 Application
1st
spindle
2nd
spindle
1st
spindle
2nd
spindle
FS15i
FS16i
/16
Standard
Initial
Setting
data
Contents
MAIN
high
speed
MAIN
low
speed
SUB
high
speed
SUB
low
speed
Class-
Ificati-
on
Internal
data
number
F-xxx
6520 6660 3020 3160 3020 4020 Depends
on the
model
Maximum motor speed
Ο Ο
C 010
6521 6661 3021 3161 3021 4021 100 Maximum speed in Cs
contouring control mode
Ο Ο
B 011
6522 6662 3022 3162 3022 4022 150 Speed arrival detection level
Ο Ο
B 012
6523 6663 3023 3163 3023 4023 30 Speed detection level
Ο Ο
B 013
6524 6664 3024 3164 3024 4024 75 Zero speed detection level
Ο Ο
B 014
6525 6665 3025 3165 3025 4025 50 Limited torque
Ο Ο
B 015
6526 6666 3026 3166 3026 4026 83 Load detection level 1
Ο Ο
B 016
6527 6667 3027 3167 3027 4027 95 Load detection level 2
Ο Ο
B 017
6528 6668 3028 3168 3028 4028 0 Limited output pattern
Ο Ο
B 018
6529 6669 3029 3169 3029 4029 100 Output limit
Ο Ο
B 019
6530 6670 3030 3170 3030 4030 0 Soft start/stop time
Ο Ο
B 020
6531 6671 3031 3171 3031 4031 0 Stop position in orientation by
position coder
Ο Ο
B 021
6532 6672 3032 3172 3032 4032 0 Acceleration/deceleration rate
for spindle synchoronization
Ο Ο
B 022
6533 6673 3033 3173 3033 4033 10 Spindle synchoronization
speed arrival level
Ο Ο
B 023
6534 6674 3034 3174 3034 4034 0 Shift for phase synchoronous
control
Ο Ο
B 024
6535 6675 3035 3175 3035 4035 0 Compensation data for
spindle phase
synchoronization
Ο Ο
B 025
6536 6676 3036 3176 3036 4036 0 Feed forward coefficient
Ο Ο
B 026
6537 6677 3037 3177 3037 4037 0 Feed forward coefficient for
velocity loop
Ο Ο
B 027
6538 6678 3038 3178 3038 4038 0 Spindle orientation speed
Ο Ο
B 028
6539 6679 3039 3179 3039 4039 0 Slip compensation coefficient
Ο
C 029
6540 6680 3040 3180 3040 4040 10 Proportional gain for velocity
loop during normal operation
(HIGH)
Ο Ο
B 030
6541 6681 3041 3181 3041 4041 10 Proportional gain for velocity
loop during normal operation
(LOW)
Ο Ο
B 031
6542 6682 3042 3182 3042 4042 10 Proportional gain for velocity
loop during orientation (HIGH)
Ο Ο
B 032
6543 6683 3043 3183 3043 4043 10 Proportional gain for velocity
loop during orientation (LOW)
Ο Ο
B 033
6544 6684 3044 3184 3044 4044 10 Proportional gain for velocity
loop in servo mode or spindle
synchoronization control
mode (HIGH)
Ο Ο
B 034
6545 6685 3045 3185 3045 4045 10 Proportional gain for velocity
loop in servo mode or spindle
synchoronization control
mode (LOW)
Ο Ο
B 035
6546 6686 3046 3186 3046 4046 30 Proportional gain for velocity
loop in Cs contouring control
mode (HIGH)
Ο Ο
B 036
6547 6687 3047 3187 3047 4047 30 Proportional gain for velocity
loop in Cs contouring control
mode (LOW)
Ο Ο
B 037
6548 6688 3048 3188 3048 4048 10 Integral gain for velocity loop
during normal operation
(HIGH)
Ο Ο
B 038
6549 6689 3049 3189 3049 4049 10 Integral gain for velocity loop
during normal operation
(LOW)
Ο Ο
B 039
6550 6690 3050 3190 3050 4050 10 Integral gain for velocity loop
during orientation (HIGH)
Ο Ο
B 040
6551 6691 3051 3191 3051 4051 10 Integral gain for velocity loop
during orientation (LOW)
Ο Ο
B 041
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Contents Summary of Spindle alpha i Startup Manual Additional Manual

  • Page 1αi series Spindle Start-up Procedure Table of contents 1. Overview 2 2. Start-up procedure 3 3. Setting parameters to start-up 4 4. Parameters related to detectors 6 5. Parameters related to normal operation mode 18 6. Spindle parameter table 19 7. Trobleshooting 31 TITLE αi series Spindle Start-up
  • Page 21. Overview This manual mainly describes the spindle parameters when you use αi series spindle amplifiers and start-up the spindle. In αi series spindle, please attention that parameter specifications related to detectors are different from α series. Parameters and adjustment method are the same as
  • Page 32. Start-up Procedure A. Ch eck t h e spin dle-r ela t ed specifica t ions. 1. CNC m odel (αi ser ies ser vo a m plifier syst em is con n ect ed t o i ser ies CNC.) 2. Spin dle m ot or 3. P ower su pply m odu le 4. Spin dle a m plifier m odule 5. Det ect or syst em B. Ch eck a ll con n ect ion s. C.
  • Page 43. Setting parameters to start-up 3.1 Parameters for the αi series (Serial) spindle system. Parameter No. 0 15 Description 1st 2nd 1st 2nd 15i 16i/16 spindle spindle spindle spindle - - 5606 5606 5606 - Whether to use αi series (Serial) (*1) (*1) #0 #1 #0 (*1) spindle amplifier 0071 5604 5841 3701 N
  • Page 5Parameter No. 0 15 Setting 1st 2nd 1st 2nd 15i 16i/16 spindle spindle spindle spindle 6633 6773 3133 3273 3133 4133 Model code 2. Set the relevant parameter to 1 to enable automatic spindle parameter initialization. Parameter No. 0 15 Setting 1st 2nd 1st 2nd 15i 16i/16 spindle spindle spindle spindl
  • Page 63.3 Parameters related to spindle speed commands Parameter No. Description 0T 0M 15 15i 16i/16 0013 - - 3706 Spindle speed command polarity #7,6 #7,6 (enabled when input signal SSIN is set to 0) - 0543 5618 3735 Minimum clamp speed of spindle motor (*1) (M system) - 0542 5619 3736 Maxmum clamp speed
  • Page 74.1 List of parameter for detector Parameter No. Description 0T 0M 15 15i 16i/16 6500 #0 3000 #0 3000 #0 4000 #0 Direction of spindle and spindle motor rotation 6501 #4 3001 #4 3001 #4 4001 #4 Spindle sensor mounting direction 6502 3002 3002 4002 Setting of spindle sensor type #3,2,1,0 #3,2,1,0 #3,2
  • Page 84.2 Detail of parameter for detector 0 15 15i 16i/16 1st 6500 3000 3000 4000 ROTA1 2nd 6640 3140 #7 #6 #5 #4 #3 #2 #1 #0 ROTA1 Relationship between the rotation directions of spindle and sipndle motor. 0 : Spindle and spindle motor rotate in the same direction. 1 : Spindle and spindle motor rotate i
  • Page 9Number of teeth of PCPL2 PCPL1 PCPL0 PCTYPE spindle sensor 0 0 0 0 256λ/rev 0 0 0 1 128λ/rev 0 1 0 0 512λ/rev 0 1 0 1 64λ/rev 1 0 0 1 1024λ/rev 1 1 0 0 384λ/rev 0 15 15i 16i/16 1st 6504 3004 3004 4004 RFTYPE EXTRF 2nd 6644 3144 #7 #6 #5 #4 #3 #2 #1 #0 EXTRF、RFTYPE Setting of a reference switch signa
  • Page 100 15 15i 16i/16 1st 6510 3010 3010 4010 MSTYP2 MSTYP1 MSTYP0 2nd 6650 3150 #7 #6 #5 #4 #3 #2 #1 #0 MSTYP2、MSTYP1、MSTYP0 Motor sensor type Set detectors installed in motor. (including detector of built-in motor) MSTYP2 MSTYP1 MSTYP0 Motor sensor type 0 0 0 Mi sensor 0 0 1 MZi、BZi sensor 0 15 15i 16i/
  • Page 11This bit is set to 1, AL-81, AL-82, AL-85, AL-86 are checked. RFCHK2 Specifies whether to detect alarm related to position feedback signal for thread cutting (AL-46) 0 : Alarm detection disabled. 1 : Alarm detection enabled. RFCHK3 Function for redetecting the one rotation signal each time position
  • Page 120 15 15i 16i/16 1st 6935 3315 3171 4171 Denominator of arbitrary gear ratio between motor sensor and spindle (HIGH) CTH1A=0 2nd 6975 3535 0 15 15i 16i/16 1st 6936 3316 3172 4172 Numerator of arbitrary gear ratio between motor sensor and spindle (HIGH) CTH1A=0 2nd 6976 3536 0 15 15i 16i/16 1st 6937 3
  • Page 13(a) In case of using α position coder [Example system configuration] M i (or MZi sen sor ) in spin dle m ot or J YA2 Spin dle α posit ion coder SP M TYP E A J YA3 Dir ect con n ect ion , 1:1 con n ect ion by gea r or t im in g belt Parameter No. Setting Description 4000 #0 Depends on Direction of sp
  • Page 14(B) In case of using α position coder S [Example system configuration] M i (or MZi sen sor ) in spin dle m otor J YA2 Spin dle α posit ion coder S SP M TYP E B J YA4 Dir ect con n ect ion , 1:1 con nect ion by gea r or t im in g belt Parameter No. Setting Description 4000 #0 Depends on Direction of
  • Page 15[Example system configuration 2] BZi sensor Spin dle+ Spin dle m ot or J YA2 SP M TYP E A [Example system configuration 3] MZi sen sor in spin dle m ot or J YA2 Spin dle SP M TYP E A Dir ect con n ect ion , 1:1 con n ect ion by gea e or t im in g belt Parameter No. Setting Description 4000 #0 0 Dire
  • Page 16(d) In case of using separate BZi sensor [Example system configuration] M i (or MZi sen sor ) in spin dle m ot or J YA2 Spin dle SP M TYP E B J YA4 BZi sen sor Parameter No. Setting Description 4000 #0 Depends on Direction of spindle and spindle motor rotation the configuration 4001 #4 Depends on Sp
  • Page 17(e) In case of using a reference switch signal (proximity switch) [Example system configuration] M i sen sor (or MZi sen sor ) in spin dle m ot or Spin dle J YA2 SP M Refer en ce swit ch signa l TYP E A (P r oxim it y swit ch ) Gea r or t im in g belt J YA3 Parameter No. Setting Description 4000 #0
  • Page 185. Parameters related to normal operation mode 5.1 List of parameters related to normal operation mode Parameter No. 0 15 16i Description 15i 1st 2nd 1st 2nd 16 6540 6680 3040 3180 3040 4040 Velocity loop proportional gain for normal operation (HIGH) CTH1A=0 6541 6681 3041 3181 3041 4041 Velocity lo
  • Page 190 15 15i 16i/16 1st 6549 3049 3049 4049 Velocity loop integral gain for normal operation (LOW) CTH1A=1 2nd 6689 3189 Data unit : Data range : 0 to 32767 Standard setting : 10 This data is used to set the velocity loop integral gain for normal operation. A parameter is selected with the CTH1A input s
  • Page 20FS0 FS15 Standard Application Internal Class- FS16i Initial MAIN MAIN SUB SUB data 1 st 2 nd 1 st 2 nd FS15i Contents Ificati- /16 Setting high low high low number Spindle Spindle Spindle Spindle on data speed speed speed speed F-xxx 6500#0 6640#0 3000#0 3140#0 3000#0 4000#0 0 Spindle and motor rota
  • Page 21FS0 FS15 Standard Application Internal Class- FS16i Initial MAIN MAIN SUB SUB data 1st 2nd 1st 2nd FS15i Contents Ificati- /16 Setting high low high low number spindle spindle spindle spindle on data speed speed speed speed F-xxx 6506#0 6646#0 3006#0 3146#0 3006#0 4006#0 0 003#8 #1 #1 #1 #1 #1 #1 0
  • Page 22FS0 FS15 Standard Application Internal Class- FS16i Initial MAIN MAIN SUB SUB data 1st 2nd 1st 2nd FS15i Contents Ificati- /16 Setting high low high low number spindle spindle spindle spindle on data speed speed speed speed F-xxx 6512 6652 3012 3152 3012 4012 Depends Setting of PWM carrier frequency
  • Page 23FS0 FS15 Standard Application Internal Class- FS16i Initial MAIN MAIN SUB SUB Ificati- data 1st 2nd 1st 2nd FS15i Contents /16 Setting high low high low number spindle spindle spindle spindle on data speed speed speed speed F-xxx 6518#0 6658#0 3018#0 3158#0 3018#0 4018#0 0 009#8 #1 #1 #1 #1 #1 #1 0
  • Page 24FS0 FS15 Standard Application Internal Class- FS16i Initial MAIN MAIN SUB SUB data 1st 2nd 1st 2nd FS15i Contents Ificati- /16 Setting high low high low number spindle spindle spindle spindle on data speed speed speed speed F-xxx 6520 6660 3020 3160 3020 4020 Depends Maximum motor speed Ο Ο C 010 on
  • Page 25FS0 FS15 Standard Application Internal Class- FS16i Initial MAIN MAIN SUB SUB data 1st 2nd 1st 2nd FS15i Contents Ificati- /16 Setting high low high low number spindle spindle spindle spindle on data speed speed speed speed F-xxx 6552 6692 3052 3192 3052 4052 10 Integral gain for velocity loop Ο Ο B
  • Page 266578 6718 3078 3218 3078 4078 200 068 6579 6719 3079 3219 3079 4079 0 069 6580 6720 3080 3220 3080 4080 Depends Regenerative power limit for Ο C 070 on the high-speed zone/regenerative model power limit 6581 6721 3081 3221 3081 4081 20 Delay time until motor power Ο Ο B 071 is cut off. TITLE αi seri
  • Page 27FS0 FS15 Standard Application Internal Class- FS16i Initial MAIN MAIN SUB SUB data 1st 2nd 1st 2nd FS15i Contents Ificati- /16 Setting high low high low number spindle spindle spindle spindle on data speed speed speed speed F-xxx 6582 6722 3082 3222 3082 4082 10 Setting of acceleration/ Ο Ο B 072 de
  • Page 28FS0 FS15 Standard Application Internal Class- FS16i Initial MAIN MAIN SUB SUB data 1st 2nd 1st 2nd FS15i Contents Ificati- /16 Setting high low high low number spindle spindle spindle spindle on data speed speed speed speed F-xxx 6608 6748 3108 3248 3108 4108 Depends Velocity at which the current Ο
  • Page 29FS0 FS15 Standard Application Internal Class- FS16i Initial MAIN MAIN SUB SUB data 1st 2nd 1st 2nd FS15i Contents Ificati- /16 Setting high low high low number spindle spindle spindle spindle on data speed speed speed speed F-xxx 6631 6771 3131 3271 3131 4131 0 Time constant for velocity Ο Ο B 121 d
  • Page 30FS0 FS15 Standard Application Internal Class- FS16i Initial MAIN MAIN SUB SUB data 1st 2nd 1st 2nd FS15i Contents Ificati- /16 Setting high low high low number spindle spindle spindle spindle on data speed speed speed speed F-xxx 6917 6957 3297 3517 3153 4153 Depends Regular-time voltage Ο C 145 on
  • Page 31TITLE αi series Spindle Start-up Procedure 2 01.05.24 Yokota DRAW. No. 1 01.03.23 Yokota Newly designed A-53866E-387/02 CUST. Design. SHEET Ed Date Description FANUC LTD 31/41
  • Page 32FS0 FS15 Standard Application Internal Class- FS16i Initial MAIN MAIN SUB SUB data 1st 2nd 1st 2nd FS15i Contents Ificati- /16 Setting high low high low number spindle spindle spindle spindle on data speed speed speed speed F-xxx 6211 6391 3391 3611 3247 4247 0 Time constant for spindle load Ο B 229
  • Page 33FS0 FS15 Standard Application Internal Class- FS16i Initial MAIN MAIN SUB SUB data 1st 2nd 1st 2nd FS15i Contents Ificati- /16 Setting high low high low number spindle spindle spindle spindle on data speed speed speed speed F-xxx 6304 6484 3484 3704 3340 4340 0 Bell-shaped Ο Ο B 324 acceleration/dec
  • Page 34TITLE αi series Spindle Start-up Procedure 2 01.05.24 Yokota DRAW. No. 1 01.03.23 Yokota Newly designed A-53866E-387/02 CUST. Design. SHEET Ed Date Description FANUC LTD 34/41
  • Page 35Symptom Relevant section 1 The motor does not rotate. 7.1 2 The motor does not rotate at the command speed. 7.2 3 The motor vibrates and generates noise while rotating. 7.3 4 Overshoot or hunting occurs. 7.4 5 The cutting capability is sub-standard. 7.5 6 The time required for acceleration/decelerat
  • Page 367.2 When the motor does not rotate at the commanded speed (1) Check all connections. (a) Motor power line connection (b) Feedback signal cable connection (2) Check the parameter setting. (a) Parameter data for each motor model (b) Detector-related parameter (c) Setting of maximum motor speed 0 15 15
  • Page 37(3) Compare the conditions when the motor is driven and when the motor is coasting. If considerably less vibration and noise is observed while the motor is coasting, the control circuitry is faulty. If the same degree of vibration and noise is observed, however, the motor or machine is faulty. The m
  • Page 387.6 When time required for acceleration/deceleration increases (1) Check the parameter setting (a) Parameter data for each motor model (b) Limited output pattern and output limit 0 15 15i 16i/16 Description 6528 3028 3028 4028 Sets a limited output pattern. 6529 3029 3029 4029 Output limit (c) Regen
  • Page 39Status error Action Indica tion 01 SFR (normal rotation command), SRV (reverse rotaion Check the sequence of *ESP and MRDY. For command) or ORCM (orientation command) is entered MRDY, check bit 0 of parameter No.4001, when *ESP (emergency stop signal, which Specifying whether to use the MRDY signal.
  • Page 40Status error Action Indica tion 11 When the servo mode control command (rigid tapping, When a servo mode is specified, do not specify spindle positioning, etc) is active, and another mode another mode. To enter another mode, first (such as Cs contouring control, spindle synchronization cancel the se
  • Page 417.8 Alarms Table CNC monitor display SPM Display Troubleshooting Alarm Description 0 15 15i 16i/16 (alarm (Described parameter is No.16i/16’) code) 409 OT301 SP0001 7n01 01 Motor overheat 1. Reconsider circumstances temperature and load condition (cutting condition and acceleration/ deceleration fre
  • Page 42CNC monitor display SPM Display Troubleshooting Alarm description 0 15 15i 16i/16 (alarm (Described parameter No. is 16i/16’) code) 408 OT300 SP098x 750 19 Excessive offset of phase Change SPM. U current detection circuit 408 OT300 SP098x 750 20 Excessive offset of phase Change SPM. V current detect
  • Page 43CNC monitor display SPM Display Troubleshooting Alarm description 0 15 15i 16i/16 (alarm (Described parameter No.16i/16) code) 409 OT399 SP0046 7n46 46 One-rotation signal 1. Check and correct parameters. detection error during 2. Change feedback cables. thread cutting 3. Change position detector. 4
  • Page 44CNC monitor display SPM Display Troubleshooting Alarm description 0 15 15i 16i/16 (alarm (Described parameter No.16i/16) code) 409 OT399 SP0073 7n73 73 Motor sensor signal 1. Change feedback cables. disconnected 2. Confirm the shielding. 3. Check and correct connection. 4. Adjust sensor. 409 OT399 S