Update of Servo Software 90B0 for FS15i, FS16i and FS18i (with 320C5410 DSP) Supplement to Manual Page 5

Supplement to Manual

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Descri

tion

Design.

DateEd

01.04.20

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



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Taka

ama

Newly designed

Notice of the update of Digital

Servo Software 90B0 series

A-62449E-084

FANUC LTD

[Table 1-1] Parameter table for HRV1 control (1)

Motor Model



5000i



5000i



5000i



5000i



3000i



4000i



2000i



3000i



4000i



M12

4000i



C12

2000i

or s

ifi

on 0202 0205 0212 0215 0221 0223 0226 0227 0235 0238 0241

typ

o. 152 155 162 165 171 173 176 177 185 188 191

2001.04.01

Symbol Parameter No.

FS15 FS16

1808 2003

00001000

1809 2004

00000110

1883 2005

00000000

1884 2006

00000000

1954 2010

00000000

1955 2011

00000000

00100000

00000000

00100000

00000000

00100000

00000000

00100000

1956 2012

00000000

1751 2211

00000010

00001000

00000010

00001010

00000010

PK1 1852 2040

672

680

600

400

926

659

1096

712

544

657

3809

PK2 1853 2041 -

2294

2247

1900

1154

4063

2463

4638

3187

2352

2522

8197

PK3 1854 2042 -

2514

2568

2504

2553

2619

2623

2651

2616

2639

2679

PK1V 1855 2043

115

106

150

113

280

PK2V 1856 2044 -

594

680

350

574

1034

953

1342

1009

294

466

2504

PK3V 1857 2045

PK4V 1858 2046 -

8235

POA1 1859 2047

6384

5578

10853

6614

3670

3980

2827

3760

1289

815

1516

BLCMP 1860 2048

DPFMX 1861 2049

POK1 1862 2050

956

POK2 1863 2051

510

RESERV 1864 2052

PPMAX 1865 2053

PDDP 1866 2054

1894

PHYST 1867 2055

319

EMFCMP 1868 2056

20485

PVPA 1869 2057

10256

10250

10262

5915

11789

3854

6418

7691

5904

1804

PALPH 1870 2058

3300

2000

3500

1500

180

1236

3000

2000

2400

2500

PPBAS 1871 2059

TQLIM 1872 2060

7282

8010

7282

8010

7282

EMFLMT 1873 2061

POVC1 1877 2062

32613

32497

32528

32315

32406

32446

32289

32383

32609

32534

32289

POVC2 1878 2063

1933

3390

3005

5660

4529

4029

5994

4807

1993

2923

5994

TGALMLV 1892 2064

POVCLMT 1893 2065

5739

10085

8936

16888

13493

11998

17889

14327

5920

8692

17889

PK2VAUX 1894 2066

FILTER 1895 2067

FALPH 1961 2068

VFFLT 1962 2069

ERBLM 1963 2070

PBLCT 1964 2071

SFCCML 1965 2072

PSPTL 1966 2073

AALPH 1967 2074

4096

8192

12288

8192

12288

8192

4096

8192

MODEL 1968 2075

WKAC 1969 2076

OSCTPL 1970 2077

PDPCH 1971 2078

PDPCL 1972 2079

DPFEX 1973 2080

DPFZW 1974 2081

BLENDL 1975 2082

MOFCTL 1976 2083

SDMR1 1977 2084

SDMR2 1978 2085

RTCURR 1979 2086

1234

1636

1540

2117

1892

1784

2593

1950

1253

1518

3020

TDPLD 1980 2087

MCNFB 1981 2088

BLBSL 1982 2089

ROBSTL 1983 2090

ACCSPL 1984 2091

ADFF1 1985 2092

VMPK3V 1986 2093

BLCMP2 1987 2094

AHDRTL 1988 2095

RADUSL 1989 2096

SMCNT 1990 2097

DEPVPL 1991 2098

ONEPSL 1992 2099

400

INPA1 1993 2100

INPA2 1994 2101

DBLIM 1995 2102

12000

15000

ABVOF 1996 2103

ABTSH 1997 2104

TRQCST 1998 2105

109

117

127

190

201

277

369

562

696

350

LP24PA 1999 2106

VLGOVR 1700 2107

RESERV 1701 2108

BELLTC 1702 2109

MGSTCM 1703 2110

1289

1552

786

519

521

DETQLM 1704 2111

7710

6460

7745

10310

3900

5130

3880

5180

7780

5170

2168

AMRDML 1705 2112

NFILT 1706 2113

NINTCT 1735 2127

1188

1276

1137

646

2544

1443

2380

2103

2106

1592

4150

MFWKCE 1736 2128

570

855

1000

2500

5000

2000

4500

1500

4000

3000

12000

MFWKBL 1752 2129

3211

3851

3847

1812

3338

1550

1815

2580

2570

1044

LP2GP 1753 2130

LP4GP 1754 2131

LP6GP 1755 2132

PHDLY1 1756 2133

2571

2565

2563

3855

6670

3860

5140

5652

5135

5150

PHDLY2 1757 2134

12850

12825

12820

5155

5140

5150

5145

5150

5160

5150

DGCSMM 1782 2159

TRQCUP 1783 2160

RESERV 1784 2161

POVC21 1785 2162

32767

32766

32765

32766

32763

32765

32767

32766

32761

POVC22 1786 2163

POVCLMT2

1787 2164

2425

4261

3776

7135

5701

5069

10709

6053

2501

3672

14518

MAXCRT 1788 2165

Contents Summary of Update of Servo Software 90B0 for FS15i, FS16i and FS18i (with 320C5410 DSP) Supplement to Manual

Page 1TECHNICAL REPORT (MANUAL) No. TMS01/010 Date: May 14, 2001 General Manager of Servo Laboratory Notice of the update of Digital Servo Software 90B0/H (08) 1. Distribute this report to the destinations marked with Your information GE Fanuc-N, GE Fanuc-E Fanuc Robotics-NA, Fanuc Robotics-E CINCINNATI M
Page 2Notice 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. A-62449E-084 2. Summary of Change Group Name / Outline New, Add Applicable Correct, Del Date Basic Function i 1. TUNE becomes available Add 2
Page 3Notice 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, 21i 90B0 001E (05) 001H (08) (with servo card equipped with 320C5410) 2. Content of change - iTU
Page 4Attached 1. Parameter table for αi series servo motors Standard parameters for αi series servo motors are added to parameter table (See following Tables 1-1 to Table 1-4) Please set suitable motor types No. for the control ,HRV1 or HRV2/HRV3. Because αi series servo motor types No. of HRV1 cont
Page 5[Table 1-1] Parameter table for HRV1 control (1) Motor Model 1 2 M2 M3 C4 4 C8 8 M8 M12 C12 5000i 5000i 5000i 5000i 3000i 4000i 2000i 3000i 4000i 4000i 2000i Motor specification 0202 0205 0212 0215 0221 0223 0226 0227 0235 0238 0241 Motor type No. 152 155 162 165 171 173 176 177 185 188 1
Page 6[Table 1-2] Parameter table for HRV1 control (2) Motor Model 12 C22 22 C30 30 40 M22 M30 M40 3000i 2000i 3000i 1500i 3000i 3000i 4000i 4000i 4000i Motor specification 0243 0246 0247 0251 0253 0257 0265 0268 0272 Motor type No. 193 196 197 201 203 207 215 218 222 2001.04.01 Symbol Parameter
Page 7[Table 1-3] Parameter table for HRV2/HRV3 control (1) Motor Model 1 2 M2 M3 C4 4 C8 8 M8 M12 C12 5000i 5000i 5000i 5000i 3000i 4000i 2000i 3000i 4000i 4000i 2000i Motor specification 0202 0205 0212 0215 0221 0223 0226 0227 0235 0238 0241 Motor type No. 252 255 262 265 271 273 276 277 285
Page 8[Table 1-4] Parameter table for HRV2/HRV3 control (2) Motor Model 12 C22 22 C30 30 40 M22 M30 M40 3000i 2000i 3000i 1500i 3000i 3000i 4000i 4000i 4000i Motor specification 0243 0246 0247 0251 0253 0257 0265 0268 0272 Motor type No. 293 296 297 301 303 307 315 318 322 2001.04.01 Symbol Param
Page 9Attached 2. Parameter setting for ESP delay timer in αi series servo amplifier (1) Overview αi series servo amplifier has delay timer (50ms to 400ms) to emergency stop signal (ESP) inside. This delay timer makes it possible to use Brake contorol function without external timer. See FANUC AC SERVO MO
Page 10(3) Setting parameters #7 #6 #5 #4 #3 #2 #1 #0 Series 15i 1750 ESPTM1 ESPTM0 Series 16i 2210 ESPTM0 (#5) Delay time setting ESPTM1 (#6) ESPTM1 ESPTM0 Delay time 0 0 50ms (default) 0 1 100ms 1 1 200ms 1 1 400ms * Delay time have to be longer than the brake contorol time. (Brake contorol time setting
Page 11Attached 3. About Soft Phase alarm on tandem axes with Motor Feedback Sharing Function. (1) Overview We found that the following phenomenon may occur when we use Motor feedback sharing function. We report the correction of the function in this update of digital servo software. (2) Condition - 90B0/G
Page 12Attached 4. Parameter setting for Dummy Serial Feedback Function. (1) Overview The specification of Dummy serial feedback function is changed as follows. (2) Series and editions of applicable servo software Series 90B0/H (08) or later (Series 15i, 16i, 18i, 21i) (3) Setting parameters Setting the fo