1. Fanuc
  2. FANUC Servo Amplifier ßi Series I/O Link Option Modification from I/O Link ß

FANUC Servo Amplifier ßi Series I/O Link Option Modification from I/O Link ß Additional Manual Page 22

Additional Manual
FANUC SERVO AMPLIFIER βi series I/O Link Option
Modification from I/O Link β
EDIT
DRAW. NO. CUST
TITLE
DESCRIPTION
DESIG.
DATE
A-79487E
22
/
23
01
04.03.15
SHEET
Newly designed
Motor model
α4
5000is
αC4
3000i
β12
3000is
α4
4000i
β22
2000is
αC8
2000i
α8
3000i
β0.4
5000is
Motor
specification
0215 0221 0078 0223 0085 0226 0227 0114
Symbol Motor ID No. 265 271 272 273 274 276 277 280
BITPRM 19 00001000 00001000 00001100 00000000 00001100 00001000 00000000 00000000
PK1 70 420 1240 402 993 1184 1276 787 100
PK2 71 -1748 -6415 -2217 -4260 -6800 -6288 -4184 -430
PK3 72 -1276 -1309 -1304 -1311 -1331 -1326 -1325 -2463
PK1V 73 63 113 166 104 236 146 110 7
PK2V 74 -560 -1009 -1494 -931 -2121 -1310 -985 -59
PK4V 75 -8235 -8235 -8235 -8235 -8235 -8235 -8235 -8235
PPMAX 76 21 21 21 21 21 21 21 21
PDDP 77 1894 1894 1894 1894 1894 1894 1894 1894
PVPA 78 -8974 -5915 -5140 -11789 -3612 -3854 -6420 0
PALPH 79 -3641 -1500 -3500 -180 -3000 -1236 -2000 0
TQLIM 80 7282 7282 7282 8010 7282 7282 8010 4660
POVC1 81 32373 32590 32491 32610 32428 32434 32579 32640
POVC2 82 4942 2225 3465 1979 4249 4170 2363 1603
POVCLMT 83 14731 6612 10311 5879 12656 12420 7020 4759
AALPH 84 12288 12288 16384 8192 16384 8192 8192 20480
DBLIM 85 0 0 0 15000 0 0 15000 0
MGSTCM 86 8 1289 1814 32 0 1552 776 30
DETQLM 87 10295 3900 7930 5130 2866 3880 3870 10290
NINTCT 88 646 2544 1194 1443 2459 2380 2103 400
MFWKCE 89 1667 5000 3000 2000 5000 4500 3500 0
MFWKBL 90 3847 1812 2056 3338 562 1550 1815 0
EMFCMP 99 0 0 0 -5130 -5130 0 0 -12850
PK2VAUX 101 0 0 0 0 0 0 0 0
TRQCST 112 127 190 418 201 692 277 369 22
MDLCST 115 1127 626 845 678 596 482 641 10651
PHDLY1 118 7690 3855 5138 6670 3350 3860 0 7690
PHDLY2 119 12840 8995 8990 8980 8979 8990 0 12820
Motor model
β0.5
5000is
β1
5000is
α8
4000is
α12
4000is
αC12
2000i
α12
3000i
αC22
2000i
α22
3000i
Motor
specification
0115 0116 0235 0238 0241 0243 0246 0247
Symbol Motor ID No. 281 282 285 288 291 293 296 297
BITPRM 19 00000000 00000000 00001000 00001000 00000000 00000000 00001000 00000000
PK1 70 88 318 550 570 1875 1701 2320 1750
PK2 71 -818 -1819 -3449 -3358 -9137 -6391 -10593 -6000
PK3 72 -2415 -2388 -1307 -1319 -1339 -1315 -1347 -1345
PK1V 73 6 6 32 51 273 188 264 194
PK2V 74 -57 -51 -287 -454 -2445 -1681 -2368 -1733
PK4V 75 -8235 -8235 -8235 -8235 -8235 -8235 -8235 -8235
PPMAX 76 21 21 21 21 21 21 21 21
PDDP 77 1894 1894 1894 1894 1894 1894 1894 1894
PVPA 78 0 -11525 -7685 -5898 -1804 -8199 -2597 -5136
PALPH 79 0 -500 -2000 -3000 -2500 -747 -1942 -2800
TQLIM 80 5826 6554 7282 7282 7282 7282 8010 7282
POVC1 81 32674 32695 32690 32653 32317 32552 32348 32542
POVC2 82 1178 915 978 1435 5644 2702 5248 2820
POVCLMT 83 3497 2714 2901 4259 16838 8031 15648 8384
AALPH 84 20480 20480 0 0 8192 8192 4096 12288
DBLIM 85 0 0 0 0 15000 15000 0 15000
MGSTCM 86 30 30 519 521 0 32 1548 1291
DETQLM 87 10290 10290 7268 6174 2168 0 2600 0
NINTCT 88 1009 1763 2106 1592 4150 2388 3695 3272
MFWKCE 89 0 0 4000 2000 12000 2000 4000 4500
MFWKBL 90 0 0 2580 2575 1044 2568 1046 1301
EMFCMP 99 -12850 -12850 0 0 0 0 0 0
PK2VAUX 101 0 0 0 0 0 0 0 0
TRQCST 112 42 89 562 696 350 517 680 929
MDLCST 115 11014 12232 2197 1389 258 376 267 364
PHDLY1 118 7690 11560 5150 6174 5150 0 2070 0
PHDLY2 119 12820 12880 8990 8990 8990 0 9000 0
Previous page
Next page

Contents Summary of FANUC Servo Amplifier ßi Series I/O Link Option Modification from I/O Link ß Additional Manual

  • Page 1FANUC SERVO AMPLIFIER βi series I/O Link Option Modification from I/O Link β 1 OUTLINE............................................................................................................................. 2 2 DETAILED DESCRIPTION................................................................
  • Page 21 OUTLINE This technical report explains the modification from “FANUC SERVO MOTOR β series I/O Link Option” (for short, “I/O Link β”) to “FANUC SERVO AMPLIFIER βi series I/O Link Option” (for short, “I/O Link βi ”). About the contents except this technical report, please refer to “FANUC SERVO MOTOR
  • Page 3Ⅰ START-UP PROCEDURE 3 START-UP PROCEDURE 3.4 PARAMETER INITIALIZATION (1) Preparation prior to servo parameter initialization Before servo parameter initialization, check the following information: 1. Servo motor model (Example: β 8/3000is) 2. Amount of travel per motor revolution (Example: 10 mm/m
  • Page 44. Set the initialization bit DGPR to 0. b7 b6 b5 b4 b3 b2 b1 b0 No.12 DGPR When this bit is set to 0, a power-down request alarm (alarm No. 0) is issued. However, following procedure from 5 to 9 can be done. Start initialization It is not necessary to turn off CNC until 11. DGPR (b1) = 0 DGPR(b1) b
  • Page 56. Set CMR In parameter No.032, set coefficient for the command unit from the CNC system to the servo system. CMR = Command unit/detection unit When CMR is from 1 to 48 Setting = CMR x 2 When CMR is from 1/2 to 1/27 Setting = 1/CMR + 100 Usually, CMR = 1. So, set “2” in parameter No.032. 7. Set the
  • Page 69. Set the reference counter capacity. (Parameter No. 180) Set the reference counter capacity when performing a reference position return operation based on the grid method. Set the number of position pulses per motor revolution, or set that number divided by an integer. Example: αi pulse coders, se
  • Page 7Ⅰ START-UP PROCEDURE 4 OPERATION CHECK METHOD 4.1 CHECK PROCEDURE 1. Turn on the power. When the LED indicates data other than or Refer to the explanation of troubleshooting in Part III. 2. The LED indicates 3. The emergency stop state is released. The LED does not indicate Check the *ESP signal app
  • Page 8Table 4.1 LED Indications and Meanings LED State Description indication This indicates that control power (+24 Servo amplifier VDC) is supplied. No alarm is issued, unit not ready but the motor is not activated. This indicates that the motor is Servo amplifier activated, and that commands can now un
  • Page 9Ⅰ TROUBLESHOOTING AND COUNTERMEASURES 2 ALARM DISPLAY AND CORRESPONDING COUNTERMEASURES LED type Number Alarm type （Classification by Red LED） Or 000 to 299 Program or setting alarm 300 to 399 Pulse coder alarm Or 400 to 499 Servo alarm Same as PS alarm 500 to 599 Overtravel alarm Or - System alarm
  • Page 10No. LED display Description Countermeasure The reference position has not yet Set the reference position. been established. This occurs 224 only when the ZRTN bit of parameter No.001 is set to 0. Input data 1 or command is invalid. Check input data 1, specified with 250 a function code. Input data 2
  • Page 11Pulse coder alarms No. LED display Description Countermeasure A communication error (DTER) Check the continuity of the signal for the serial pulse coder was cable. If the cable is normal, the detected. pulse coder may be defective. 300 Turn the power off. If the alarm recurs when the power is reappl
  • Page 12No. LED display Description Countermeasure When the absolute pulse coder is Cause the motor to rotate through used, the motor has not yet more than one turn in jog feed 319 rotated through more than one mode, then turn the power off turn after the first power-up. then back on. The battery voltage of
  • Page 13Servo alarms No. LED display Description Countermeasure The servo motor has overheated. The motor operation condition may 400 (estimated value) be too severe. Check the operation condition. DRDY(Drive Ready signal) becomes 0. 401 The servo amplifier is not ready. SVM1-4i The cooling fins have The lo
  • Page 14No. LED display Description Countermeasure The servo position error in the Determine the mechanical cause of stop state is larger than the value the large position error. 410 specified in parameter No.110. If no mechanical cause is found, specify a larger value for the parameter. The servo position
  • Page 15No. LED display Description Countermeasure DC Link Over Voltage Alarm This alarm is issued when the DC has been issued. voltage of the main circuit power is too high. (1) When SVM1-4i or SVM1-20i is used, and a separate regenerative discharge unit is not used, check the specification to see if regen
  • Page 16No. LED display Description Countermeasure Inverter IPM Alarm has been issued. (1) Check whether the cooling fan is not stopped. (2) Check whether the motor is used within related current. (3) Check whether the temperature in locker is higher. Check the fin or filter in locker. (4) Check whether the
  • Page 17No. LED display Description Countermeasure DO Alarm is issued. Replace the servo amplifier unit. 418 The specified speed exceeds Re-examine the CMR and speed 423 32767000 detection units per settings. second. The cooling fan has stopped. This alarm is issued when the fan motor built into the servo a
  • Page 18Overtravel alarms No. LED display Description Countermeasure The positive stroke limit has been Check whether *+OT and *-OT are 500 exceeded. connected correctly. Check whether a correct move command The negative stroke limit has been is specified. Move the tool in the 501 exceeded. opposite directi
  • Page 19System alarms No. LED display Description Countermeasure An error was detected in the RAM Replace the servo amplifier unit. − write/read test at power-up. (External SRAM) A watchdog alarm 1 was issued. Turn the power off then back on. − If this alarm recurs, replace the servo amplifier unit. A watch
  • Page 20No. LED display Description Countermeasure An error was detected in the Replace the servo amplifier unit. − control circuit. A alarm for the servo amplifier Replace the servo amplifier unit. unit is issued. (General illegal − instruction) A alarm for the servo amplifier Replace the servo amplifier u
  • Page 21APPENDIXES B PARAMETERS B.7 DIGITAL SERVO STANDARD PARAMETER TABLE March, 2004 α1 β2 α2 β4 β8 β0.2 β0.3 α2 Motor model 5000i 4000is 5000i 4000is 3000is 5000is 5000is 5000is Motor 0202 0061 0205 0063 0075 0210 0211 0212 specification Symbol Motor ID No. 252 253 255 256 258 260 261 262 BITPRM 19 00001
  • Page 22α4 αC4 β12 α4 β22 αC8 α8 β0.4 Motor model 5000is 3000i 3000is 4000i 2000is 2000i 3000i 5000is Motor 0215 0221 0078 0223 0085 0226 0227 0114 specification Symbol Motor ID No. 265 271 272 273 274 276 277 280 BITPRM 19 00001000 00001000 00001100 00000000 00001100 00001000 00000000 00000000 PK1 70 420 1
  • Page 23αC30 Motor model 1500i Motor 0251 specification Symbol Motor ID No. 301 BITPRM 19 00001000 PK1 70 2238 PK2 71 -13330 PK3 72 -1347 PK1V 73 162 PK2V 74 -1451 PK4V 75 -8235 PPMAX 76 21 PDDP 77 1894 PVPA 78 -1545 PALPH 79 -1300 TQLIM 80 7282 POVC1 81 32632 POVC2 82 1704 POVCLMT 83 5058 AALPH 84 8192 DBL