Title 90D3 / 90E3
Learning Control Operator’s Manual
Draw No.
A - 63639E - 108
01 ‘05.04.20 N.Sonoda Newly designed Sheet 015
Edit Date Design Description
/ 064
5.1.3 Setting servo parameters
For the detail, refer to “FANUC AC SERVO MOTOR α
is / α i / β is series Parameter Manual”.
You should set it for each axis because all servo parameters (No.2000 - No.2269) are axis type.
(1) Set the following parameters fitted each motor and machine.
• No.2000#1 - #0 set to 00.
• No.2001#7 - #0 set to 00000000.
• No.2020 set to the Motor ID number. (from 251)
• No.2021 set to Load Inertia ratio.
• No.2022 set to the motor rotary direction. ( 111 or –111)
• No.2023 set to 8192.
• No.2024 set to 12500.
• No.2084 set to SDMR1.
• No.2085 set to SDMR2.
(Example 1) Lead pitch of ball screw is 12mm/rev. (detective unit 0.1μm)
SDMR2
SDMR1
100
12
1000000
120000
→=
(Example 2) Rotary axis, 4/10000 degree detective unit and 900000 pulses/rev
SDMR2
SDMR1
100
90
1000000
900000
→=
(Example 3) Linear motor, LS486 (20μm pitch) and 0.1μm detective unit
()
SDMR2
SDMR1
128
50
20/20128
1.0/5
→=
×
(Example 4) Full-closed rotary axis, Outer serial rotary encoder (α1000),
1/1000 degree detective unit and 360000 pulses/rev, gear ratio 1/20
SDMR2
SDMR1
100
36
1000000
360000
→=
No.2024 = 12500 / 20 = 625
(Example 5) Full-closed linear axis, linear scale (4μm pitch) + High precision serial output circuit
(A860-0333-T501, 512 division), Ball screw 8mm/rev, 0.1μm detective unit
Feedback pulses before F.F.G per one motor rotation = 8mm / (4μm / 512) =1,024,000 P/rev
2SDM
1SDMR
1024
80
10240000
800000
→=
No.2024 = 1024,000 / 100
= 10,240
No.2185 = 100
(Example 6) Full-closed linear axis, linear scale (4μm pitch) + High precision serial output circuit H
(A860-0333-T701, 2048 division), Ball screw 8mm/rev, 0.1μm detective unit
Feedback pulses before F.F.G per one motor rotation = 8mm / (4μm / 2048) =4,096,000 P/rev
[]
[]
2SDMR
1SDMR
256
5
2048
40
m1.0
2048m4
→==
μ
μ
No.2024 = 4096000 / 400
= 10,240
No.2185 = 400