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Servo Motor Beta Series (I/O Link Option) Maintenance manual Page 221

Maintenance manual
B. PARAMETERS
B--65245EN/02
APPENDIXES
200
CAUTION
On an axis where the absolute --position detector is used,
the reference position is stored using the coordinates of the
absolute -- position detector. On a rotation axis, to preserve
the positional rela tionship between the coordinates of the
absolute--position detector and the reference position, the
coordinates of the absolute -- position detector that
correspond to the reference position must b e shifted each
time movement is performed by the amount of movement
per rotation axis revolution specified for position parameter
No. 141. (See the figure below.)
Because the reference position is stored u sing the
coordinates of the absolute-- position detector, the reference
position is shifted in the absolute-- position detector pulse
units corresponding to one revolution.
The formula for converting the amount of movement per
rotation axis revolution into the movement amount of the
absolute--position detector (Lp) is as follows:
Lp = Amount of movement per rotation axis revolution
(parameter No. 141)×K
×Denominator for the number of pulses per motor
revolution (parameter No. 106)×2
16
÷Numerator for the number of pulses per motor
revolution (parameter No. 105)
Currently, if either of the following two conditions is satisfied
during the above conversion, Lp contains a fractional part.
Because the servo amplifier unit rounds off Lp to the nearest
integer value, fractional parts are accumulated if revolution
in one direction continues, possibly causing a positional
error the next time the power is turned on.
(Condition 1) If K is less than 1, the “amount of movement
per rotation axis revolution (parameter No.
141) x K” contains a fractional part.
(Condition 2) Lp contains a fractional part.
Coordinates of the absolute--coordinate detector
Amount of
moveme n t
per rotation
axis revolution
Old reference position New reference position
Shift
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Contents Summary of Servo Motor Beta Series (I/O Link Option) Maintenance manual

  • Page 1GE Fanuc Automation Computer Numerical Control Products Beta Series Servo Motor I/O Link Option Maintenance Manual B-65245EN/02 October 1999
  • Page 2GFL-001 Warnings, Cautions, and Notes as Used in this Publication Warning Warning notices are used in this publication to emphasize that hazardous voltages, currents, temperatures, or other conditions that could cause personal injury exist in this equipment or may be associated with its use. In situ
  • Page 3FANUC SERVO MOTOR series FANUC SERVO MOTOR AMPLIFIER series SAFETY PRECAUTIONS This ”Safety Precautions” section describes the precautions which must be observed to ensure safety when using FANUC servo motors (including spindle motors) and servo amplifiers (including spindle amplifiers). Users of an
  • Page 4B--65245EN/02 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, supple
  • Page 5I. FANUC SERVO MOTOR series s-- 5
  • Page 6B--65245EN/02 SAFETY PRECAUTIONS (FANUC AC SERVO MOTOR series) 1 WARNING WARNING F Be safely dressed when handling a motor. Wear safety shoes or gloves when handling a motor as you may get hurt on any edge or protrusion on it or electric shocks. F Use a crane or lift to move a motor from one place t
  • Page 7SAFETY PRECAUTIONS (FANUC AC SERVO MOTOR series) B--65245EN/02 WARNING F Connect power wires securely so that they will not get loose. A failure to observe this caution may cause a wire to be disconnected, resulting in a ground fault, short circuit, or electric shock. F Do not supply the power to th
  • Page 8B--65245EN/02 SAFETY PRECAUTIONS (FANUC AC SERVO MOTOR series) WARNING F Do not touch the regenerative discharge unit for a while (30 minutes or more) after power-- off. The regenerative discharge unit may be heated due to heat dissipation during operation. Touching the regenerative discharge unit b
  • Page 9SAFETY PRECAUTIONS (FANUC AC SERVO MOTOR series) B--65245EN/02 2 CAUTION CAUTION F FANUC motors are designed for use with machines. Do not use them for any other purpose. If a FANUC motor is used for an unintended purpose, it may cause an unexpected symptom or trouble. If you want to use a motor for
  • Page 10B--65245EN/02 SAFETY PRECAUTIONS (FANUC AC SERVO MOTOR series) 3 NOTE NOTE F Do not step or sit on a motor. If you step or sit on a motor, it may get deformed or broken. Do not put a motor on another unless they are in packages. F When storing a motor, put it in a dry (non-- condensing) place at roo
  • Page 11SAFETY PRECAUTIONS (FANUC AC SERVO MOTOR series) B--65245EN/02 NOTE F Use a motor under an appropriate environmental condition. Using a motor in an adverse environment may cause a failure or trouble in it. Refer to their respective specification manuals for details of the operating and environmental
  • Page 12B--65245EN/02 SAFETY PRECAUTIONS (FANUC AC SERVO MOTOR series) MOTOR INSULATION RESISTANCE MEASUREMENT Measure an insulation resistance between each winding and motor frame using an insulation resistance meter (500 VDC). Judge the measurements according to the following table. Insulation resistance
  • Page 13II. FANUC SERVO MOTOR AMPLIFIER series s-- 15
  • Page 14B--65245EN/02 SAFETY PRECAUTIONS (FANUC SERVO MOTOR AMPLIFIER series) 1 WARNINGS AND CAUTIONS RELATING TO MOUNTING WARNING F Check the specification code of the amplifier. Check that the delivered amplifier is as originally ordered. F Mount a ground fault interrupter. To guard against fire and elect
  • Page 15SAFETY PRECAUTIONS (FANUC SERVO MOTOR AMPLIFIER series) B--65245EN/02 WARNING F Do not disassemble the amplifier. F Ensure that the cables used for the power supply lines and power lines are of the appropriate diameter and temperature ratings. F Do not apply an excessively large force to plastic par
  • Page 16B--65245EN/02 SAFETY PRECAUTIONS (FANUC SERVO MOTOR AMPLIFIER series) CAUTION F Do not step or sit on the amplifier. Also, do not stack unpacked amplifiers on top of each other. F Use the amplifier in an appropriate environment. See the allowable ambient temperatures and other requirements, given in
  • Page 17SAFETY PRECAUTIONS (FANUC SERVO MOTOR AMPLIFIER series) B--65245EN/02 CAUTION F Apply appropriate countermeasures against noise. Adequate countermeasures against noise are required to maintain normal operation of the amplifier. For example, signal lines must be routed away from power supply lines an
  • Page 18B--65245EN/02 SAFETY PRECAUTIONS (FANUC SERVO MOTOR AMPLIFIER series) NOTE F Keep the nameplate clearly visible. F Keep the legend on the nameplate clearly visible. F After unpacking the amplifier, carefully check for any damage. F Mount the amplifier in a location where it can be easily accessed to
  • Page 19SAFETY PRECAUTIONS (FANUC SERVO MOTOR AMPLIFIER series) B--65245EN/02 2 WARNINGS AND CAUTIONS RELATING TO A PILOT RUN WARNING F Before turning on the power, check that the cables connected to the power magnetics cabinet and amplifier, as well as the power lines and power supply lines, are securely c
  • Page 20B--65245EN/02 SAFETY PRECAUTIONS (FANUC SERVO MOTOR AMPLIFIER series) CAUTION F Note whether an alarm status relative to the amplifier is displayed at power--up or during operation. If an alarm is displayed, take appropriate action as explained in the maintenance manual. If the work to be done requi
  • Page 21SAFETY PRECAUTIONS (FANUC SERVO MOTOR AMPLIFIER series) B--65245EN/02 3 WARNINGS AND CAUTIONS RELATING TO MAINTENANCE WARNING F Read the maintenance manual carefully and ensure that you are totally familiar with its contents. The maintenance manual describes daily maintenance and the procedures to b
  • Page 22B--65245EN/02 SAFETY PRECAUTIONS (FANUC SERVO MOTOR AMPLIFIER series) WARNING F Check the number of any alarm. If the machine stops upon an alarm being issued, check the alarm number. Some alarms indicate that a component must be replaced. If the power is reconnected without first replacing the fail
  • Page 23SAFETY PRECAUTIONS (FANUC SERVO MOTOR AMPLIFIER series) B--65245EN/02 CAUTION F Ensure that all required components are mounted. When replacing a component or PC board, check that all components, including the snubber capacitor, are correctly mounted. If the snubber capacitor is not mounted, for exa
  • Page 24B--65245EN/02 SAFETY PRECAUTIONS (FANUC SERVO MOTOR AMPLIFIER series) NOTE F Ensure that the battery connector is correctly inserted. If the power is shut off while the battery connector is not connected correctly, the absolute position data for the machine will be lost. F Store the manuals in a saf
  • Page 25B--65245EN/02 PREFACE PREFACE The FANUC servo motor amplifier ϒ series is available in two types: a PWM interface version and an I/O link interface version. This manual covers those points related to the maintenance of the FANUC servo motor amplifier ϒ series (I/O link option) (hereinafter referred
  • Page 26B--65245EN/02 Table of Contents SAFETY PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . s--1 PREFACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
  • Page 27TABLE OF CONTENTS B--65245EN/02 2.3.1 Preparation Completion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 2.3.2 Reset and Emergency Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
  • Page 28B--65245EN/02 TABLE OF CONTENTS 3.4.9 Control of the Point Data External Setting Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 3.4.10 Teaching-- based Data Setting Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 3.5
  • Page 29TABLE OF CONTENTS B--65245EN/02 4.4.3 Status Read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 4.4.4 Axis Movement Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
  • Page 30B--65245EN/02 TABLE OF CONTENTS B.2 COORDINATE SYSTEM AND STROKE LIMIT PARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . 182 B.3 FEEDRATE PARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185 B.4 ACCELERATION/DECELERATIO
  • Page 31I. START--UP PROCEDUR
  • Page 32B--65245EN/02 START--UP PROCEDURE 1. OVERVIEW 1 OVERVIEW This section describes the following topics, related to component confirmation and servo amplifier unit start--up: D Configuration D Start--up procedure D Operation check method 3
  • Page 332. CONFIGURATION START--UP PROCEDURE B--65245EN/02 2 CONFIGURATION 4
  • Page 34B--65245EN/02 START--UP PROCEDURE 2. CONFIGURATION 2.1 The basic configuration is shown below. For details, refer to the ”FANUC Servo Motor ϒ Series Servo Descriptions (B--65232EN).” BASIC Example of two servo amplifier units for two axes CONFIGURATION Host controller I/O link CNC or PLC Control pow
  • Page 352. CONFIGURATION START--UP PROCEDURE B--65245EN/02 2.2 SVU MAJOR Power PC Control PC board drawing number COMPONENTS Name Ordering board drawing code A20B-- A20B-- A20B-- number 2100--0180 2100--0182 2100--0184 A20B--2100-- ○ 0130 A06B--6093-- SVU -12 SVU- 12 H151 A20B--2100-- ○ 0132 A20B--2100-- ○
  • Page 36B--65245EN/02 START--UP PROCEDURE 3. START--UP PROCEDURE 3 START-- UP PROCEDURE 7
  • Page 373. START--UP PROCEDURE START--UP PROCEDURE B--65245EN/02 3.1 Start--up procedure START--UP 1. Check the specifications of the host controller (CNC or PLC), servo motor, detector, servo amplifier unit, and so forth. PROCEDURE (SUMMARY)  2. Check for external damage and flaws.  3. Check the power su
  • Page 38B--65245EN/02 START--UP PROCEDURE 3. START--UP PROCEDURE 3.2 POWER SUPPLY CONNECTION 3.2.1 Checking the Power (1) Power supply voltage Supply Voltage and Before connecting anything to the power supply, check the power supply voltage. Capacity Item Specifications Three--phase 200 to 240 VAC. Allowabl
  • Page 393. START--UP PROCEDURE START--UP PROCEDURE B--65245EN/02 3.2.2 The driving circuit of the servo amplifier unit employs an IGBT--based Leakage Current and pulse width modulation control method. So, a high--frequency leakage current flows to ground through the stray capacitance against the ground Grou
  • Page 40B--65245EN/02 START--UP PROCEDURE 3. START--UP PROCEDURE 3.3 CONNECTION OF CAUTION THE SEPARATE Even when a separate regenerative discharge unit is not REGENERATIVE used, it needs to be connected. Read this section. DISCHARGE UNIT 3.3.1 SVU--12/20 (1) Type Regenerative Type of Separate Regenerative
  • Page 413. START--UP PROCEDURE START--UP PROCEDURE B--65245EN/02 (b) A06B--6093--H402 Resistor Thermostat Battery (3) Details of connection (a) When the regenerative discharge unit is used ϒ series amplifier Regenerative discharge unit CX11--2 (DCP) B1 DCP Resistor CX11--2 (DCC) A1 DCC Housing 175362--1 Con
  • Page 42B--65245EN/02 START--UP PROCEDURE 3. START--UP PROCEDURE When the connector kit (A06B--6093--K301) is purchased, a dummy connector connecting CX11--6 is supplied as a standard accessory. ϒ series amplifier CX11--6 (TH1) B1 CX11--6 (TH2) A1 Housing 175362--1 Contact 1--175218--2 Manufacturer: AMP Jap
  • Page 433. START--UP PROCEDURE START--UP PROCEDURE B--65245EN/02 ON 1 2 3 4 (a) Setting of switches 1 and 2 The setting of switches 1 and 2 depends on the regenerative discharge resistor used. If these switches are not set correctly, the regenerative overheat alarm is not detected correctly. Switch 1 Switch
  • Page 44B--65245EN/02 START--UP PROCEDURE 3. START--UP PROCEDURE (2) Connection (a) When the separate regenerative discharge unit is used Thermostat Separate regenerative discharge unit 15
  • Page 453. START--UP PROCEDURE START--UP PROCEDURE B--65245EN/02 (b) When the separate regenerative discharge unit is not used (when the built--in regenerative discharge unit is used) Dummy connector 16
  • Page 46B--65245EN/02 START--UP PROCEDURE 3. START--UP PROCEDURE (3) Details of connection (a) When the separate regenerative discharge unit is used ϒ series amplifier Separate regenerative discharge unit CX23--B1 (RC) T3 (1) Resistor CX23--B2 (RE) T3 (2) Cable specification: Vinyl heavy--duty power cord JI
  • Page 473. START--UP PROCEDURE START--UP PROCEDURE B--65245EN/02 (b) When the separate regenerative discharge unit is not used (when the built--in regenerative discharge unit is used) Connect the connector CX23 with a dummy housing. ϒ series amplifier CX23--A1 (RC) CX23--A2 (RI) Cable specification: Vinyl h
  • Page 48B--65245EN/02 START--UP PROCEDURE 3. START--UP PROCEDURE 3.4 PARAMETER (1) Preparation prior to servo parameter initialization Before servo parameter initialization, check the following: INITIALIZATION 1. Servo motor model (Example: ϒ 6/2000) 2. Amount of travel per motor rotation (Example: 10 mm/mo
  • Page 493. START--UP PROCEDURE START--UP PROCEDURE B--65245EN/02 5. Set a motor type number. In parameter No. 30, set the motor type number of the servo motor to be used. SVU--12 Motor model ϒ 0.5/3000 ϒ 1/3000 ϒ 2/3000 ∼ 1/3000 Motor specification 0113 0031 0032 0371 Motor type number 13 35 36 61 Motor mod
  • Page 50B--65245EN/02 START--UP PROCEDURE 3. START--UP PROCEDURE ∼ and ϒ pulse coder setting Numerator for the number of pulses per rotation (≦32767) (Parameter No. 105) = Denominator for the number of (Parameter No. 106) pulses per rotation (≦32767) Example of setting: 10← m detection in a semi--closed loo
  • Page 513. START--UP PROCEDURE START--UP PROCEDURE B--65245EN/02 2) Check the connection of the pulse coder battery, then turn on the power to the CNC. 3) Absolute position communication is performed, then a reference position return request is indicated. 4) Rotate the servo motor through one or more rotati
  • Page 52B--65245EN/02 START--UP PROCEDURE 4. OPERATION CHECK METHOD 4 OPERATION CHECK METHOD 23
  • Page 534. OPERATION CHECK METHOD START--UP PROCEDURE B--65245EN/02 4.1 CHECK PROCEDURE 1. Turn on the power. When the LED indicates data other than -- or 0 Refer to the explanation of troubleshooting in Part III. 2. The LED indicates -- (minus). 3. The emergency stop state is released. The LED does not ind
  • Page 54B--65245EN/02 START--UP PROCEDURE 4. OPERATION CHECK METHOD Table 4.1 LED Indications and Meanings LED State Description indication Servo amplifier This indicates that control power (+24 unit not ready VDC) is supplied. No alarm is issued, but the motor is not activated. Servo amplifier This indicat
  • Page 55II. HANDLIN
  • Page 56B--65245EN/02 HANDLING 1. OVERVIEW 1 OVERVIEW 29
  • Page 571. OVERVIEW HANDLING B--65245EN/02 1.1 The servo amplifier unit is connected to a host unit such as a CNC via 128 DI and 128 DO points of the FANUC I/O Link. The ladder program on SERVO AMPLIFIER the host unit sends move commands to the servo amplifier unit and UNIT INTERFACE monitors its status, vi
  • Page 58B--65245EN/02 HANDLING 1. OVERVIEW 1.2 The interface area used to transfer data via the FANUC I/O Link is divided into two sections: A signal area for handling reset and alarm signals, and FANUC I/O Link a command code area for handling move commands and status monitor INTERFACE AREA command code. T
  • Page 591. OVERVIEW HANDLING B--65245EN/02 1.3 Interfaces are used to transfer data to and from the servo amplifier unit. Essentially, there are two operation modes: Peripheral equipment control INTERFACE interface and direct command interface. The mode to be used is selected by the DRC signal in the signal
  • Page 60B--65245EN/02 HANDLING 1. OVERVIEW 1.4 If the power mate CNC function is used simultaneously when the direct command interface is selected, they share the response data area. CAUTIONS ON Response data area sharing requires the identification of the interface type USING THE POWER that corresponds to
  • Page 612. SIGNAL DESCRIPTIONS HANDLING B--65245EN/02 2 SIGNAL DESCRIPTIONS 34
  • Page 62B--65245EN/02 HANDLING 2. SIGNAL DESCRIPTIONS 2.1 A host unit such as a CNC is connected to the servo amplifier unit via 128 DI and 128 DO points of the FANUC I/O Link. DO/DO SIGNALS CAUTION I/O link interface signal assignment differs between the peripheral equipment control and direct command inte
  • Page 632. SIGNAL DESCRIPTIONS HANDLING B--65245EN/02 Servo amplifier unit  CNC (host) (DRC=0) #7 #6 #5 #4 #3 #2 #1 #0 Xx+0 OPC4 OPC3 OPC2 OPC1 INPX SUPX IPLX DEN2 Xx+1 OP SA STL UCPC2 DRCO ABSWT Xx+2 MA AL DSP2 DSP1 DSALO TRQM RST ZPX Xx+3 Response data Xx+4 Response data Xx+5 Response data Xx+6 Response
  • Page 64B--65245EN/02 HANDLING 2. SIGNAL DESCRIPTIONS 2.1.2 Locations Yy+0 to Yy+3 are allocated as the DO signal area, while Direct Command locations Xx+0 to Xx+3 are allocated as the DI signal area. To control the servo amplifier unit, turn on or off directly those signals that are assigned Interface to t
  • Page 652. SIGNAL DESCRIPTIONS HANDLING B--65245EN/02 Servo amplifier unit  CNC (host) (DRC=1) #7 #6 #5 #4 #3 #2 #1 #0 Xx+0 INPX SUPX IPLX DEN2 Xx+1 OP SA STL DRCO WAT Xx+2 MA AL RST ZPX Xx+3 INPFO SVERX PSG2 PSG1 MVX APBAL MVDX Xx+4 EBSY EOSTB ECF USR1 EOPC DAL ECONT Xx+5 Direct command (function code) Xx
  • Page 66B--65245EN/02 HANDLING 2. SIGNAL DESCRIPTIONS 2.2 The following lists not only signals transferred via the I/O link interface but also direct input/output signals such as *ESP, *--OT, *+OT, and SIGNALS (LISTED IN *RILK. GROUPS) Each listed address is based on the I/O link assignment address of each
  • Page 672. SIGNAL DESCRIPTIONS HANDLING B--65245EN/02 Address Group Signal name Symbol Peripheral Direct Reference equipment command OPC1,OPC2, Xx+0#4 to Operation completion signal ---- 2.3.13 OPC3,OPC4 Xx+0#7 Yy+2#4 to Function code CMD CODEP ---- 2.3.13 Yy+2#7 Yy+2#0 to Command data 1 CMD DATA1 ---- 2.3.
  • Page 68B--65245EN/02 HANDLING 2. SIGNAL DESCRIPTIONS 2.3 SIGNAL DETAILS 2.3.1 Preparation (1) Preparation completion signal MA Completion [Classification] Input signal (common to both the peripheral equipment control and direct command interfaces) [Function] This signal indicates that the servo am
  • Page 692. SIGNAL DESCRIPTIONS HANDLING B--65245EN/02 2.3.2 Reset and Emergency (1) Emergency stop signal *ESP Stop [Classification] Output signal (common to both the peripheral equipment control and direct command interfaces) [Function] This signal brings the control unit to an emergency stop. [Op
  • Page 70B--65245EN/02 HANDLING 2. SIGNAL DESCRIPTIONS 2.3.3 Alarm (1) Alarm signal AL [Classification] Input signal (common to both the peripheral equipment control and direct command interfaces) [Function] This signal indicates that the servo amplifier unit is in an alarm state. [Input condition]
  • Page 712. SIGNAL DESCRIPTIONS HANDLING B--65245EN/02 2.3.4 Mode Selection (1) Mode selection signal MD1, MD2, and MD4 [Classification] Output signal (common to both the peripheral equipment control and direct command interfaces) [Function] This signal selects an operation mode. [Operation] T
  • Page 72B--65245EN/02 HANDLING 2. SIGNAL DESCRIPTIONS 2.3.6 Status Signals (1) Remaining travel in--range signal DEN2 [Classification] Input signal (common to both the peripheral equipment control and direct command interfaces) [Function] This signal indicates that, in the servo amplifier unit, the
  • Page 732. SIGNAL DESCRIPTIONS HANDLING B--65245EN/02 (3) Acceleration/deceleration pulse signal SUPX [Classification] Input signal (common to both the peripheral equipment control and direct command interfaces) [Function] This signal indicates that the servo amplifier unit has accumulated pulses i
  • Page 74B--65245EN/02 HANDLING 2. SIGNAL DESCRIPTIONS (6) Axis movement in--progress signal MVX [Classification] Input signal (peripheral equipment control interface) Input signal (direct command interface) [Function] The signal indicates that movement along the controlled axis is being pe
  • Page 752. SIGNAL DESCRIPTIONS HANDLING B--65245EN/02 [Function] The servo amplifier unit indicates that the current machine coordinates are within a parameter--specified range, using two code signal outputs. [Input condition] If a parameter is set up as shown below, PSG1 and PSG2 are output in the respecti
  • Page 76B--65245EN/02 HANDLING 2. SIGNAL DESCRIPTIONS *OV8 *OV4 *OV2 *OV1 Override value (%) 1 1 1 1 0 1 1 1 0 10 1 1 0 1 20 1 1 0 0 30 1 0 1 1 40 1 0 1 0 50 1 0 0 1 60 1 0 0 0 70 0 1 1 1 80 0 1 1 0 90 0 1 0 1 100 0 1 0 0 110 0 0 1 1 120 0 0 1 0 130 0 0 0 1 140 0 0 0 0 150 Actual jog feed and automatic cutt
  • Page 772. SIGNAL DESCRIPTIONS HANDLING B--65245EN/02 2.3.8 Interlock (1) Interlock signal *ILK [Classification] Input signal (common to both the peripheral equipment control and direct command interfaces) [Function] The host stops sending all movement commands. [Input condition] When the *ILK sign
  • Page 78B--65245EN/02 HANDLING 2. SIGNAL DESCRIPTIONS NOTE It is also possible to start operation at the rising edge (from off to on) of the ST signal as specified by the STON parameter (bit 7 of parameter No. 003). (2) Automatic operation start in--progress signal STL [Classification] Input signal
  • Page 792. SIGNAL DESCRIPTIONS HANDLING B--65245EN/02 2.3.11 Clamp and Unclamp NOTE (for the Peripheral When the signal described below is used, the external pulse Equipment Control input function cannot be used. Interface Only) (1) Unclamp command signal UCPC2 [Classification] Input signal [Functi
  • Page 80B--65245EN/02 HANDLING 2. SIGNAL DESCRIPTIONS 2.3.12 Servo--off (1) Servo--off command signal SVFX [Classification] Output signal (common to both the peripheral equipment control and direct command interfaces) [Function] The host turns off the servo circuit for a controlled axis, that is, s
  • Page 812. SIGNAL DESCRIPTIONS HANDLING B--65245EN/02 2.3.13 Peripheral Equipment (1) Operation completion signals OPC1, OPC2, OPC3, and OPC4 [Classification] Control Function Code Input signal and Related [Function] Information The servo amplifier unit indicates information about the complet
  • Page 82B--65245EN/02 HANDLING 2. SIGNAL DESCRIPTIONS (4) Command data 2 [Classification] Output signal [Function] The host sets command data 2 to specify the amount of movement for peripheral equipment control. [Output condition] See the timing chart of each function code for the correspondi
  • Page 832. SIGNAL DESCRIPTIONS HANDLING B--65245EN/02 CAUTION 1 The purpose of this data, when used by the host, is limited to display on the host. This data consists of 32 bits of DI signals; the bits are not updated at a time, but are updated on a bit--by--bit basis. So, if this data is being updated when
  • Page 84B--65245EN/02 HANDLING 2. SIGNAL DESCRIPTIONS [Operation] The servo amplifier unit exclusive--ORs ABSWT with ABSRD. When the result of exclusive--OR is 0, response data (Xx+3 to Xx+6) is written, and this signal is inverted. (8) Response data read completion signal ABSRD [Classification] Output sign
  • Page 852. SIGNAL DESCRIPTIONS HANDLING B--65245EN/02 [Operation] The servo amplifier unit exclusive--ORs EBUF with EBSY. If the result of exclusive ORing is 1, the servo amplifier unit behaves as follows: A) When the function code command is of a type to be buffered before execution. 1. If the function cod
  • Page 86B--65245EN/02 HANDLING 2. SIGNAL DESCRIPTIONS B) The servo amplifier unit returns the data requested by the function code. C) The servo amplifier unit outputs continuous--output data, such as the current position, requested by the continuous read command. [Input condition] A) The servo amplifier uni
  • Page 872. SIGNAL DESCRIPTIONS HANDLING B--65245EN/02 2. If a function code command is a data output command, the command is executed, and the result is output as response data. NOTE If the result of exclusive--ORing EOSTB with EOREND is 1, it becomes impossible to output further command data. Before invert
  • Page 88B--65245EN/02 HANDLING 2. SIGNAL DESCRIPTIONS (12) Function code command completion notification signal ECF [Classification] Input signal [Function] If function code command execution completion notification mode is entered with NMOD set to 1, the servo amplifier unit sets ECF to 1 to indic
  • Page 892. SIGNAL DESCRIPTIONS HANDLING B--65245EN/02 [Operation] When the servo amplifier unit is in the wait state, it sets the wait signal WAT to 1. If the WFN signal is set to 1 under this condition, the servo amplifier unit and host behave as follows: 1. The servo amplifier unit resets the wait signal
  • Page 90B--65245EN/02 HANDLING 2. SIGNAL DESCRIPTIONS the host. After detecting the DRCO signal, the host issues commands. After changing the DRC signal, the host should not issue a command within one scan after the DRCO signal changes. Once the state of the DRC signal is inverted, do not invert it again be
  • Page 912. SIGNAL DESCRIPTIONS HANDLING B--65245EN/02 (2) Overtravel signals *--OT and *+OT [Classification] Servo amplifier unit direct input signal [Function] The host indicates that the controlled axis has reached the stroke limit described below. *--OT: The stroke limit in the negative direction has bee
  • Page 92B--65245EN/02 HANDLING 3. PERIPHERAL EQUIPMENT CONTROL 3 PERIPHERAL EQUIPMENT CONTROL 65
  • Page 933. PERIPHERAL EQUIPMENT CONTROL HANDLING B--65245EN/02 3.1 The servo amplifier unit receives a command, issued in the specified format, from the host, then executes a sequence of operations for COMMAND FORMAT performing peripheral equipment control. When a command for reading FOR PERIPHERAL the curr
  • Page 94B--65245EN/02 HANDLING 3. PERIPHERAL EQUIPMENT CONTROL 3.2 PERIPHERAL EQUIPMENT CONTROL PROCEDURE 3.2.1 In peripheral equipment control, the host sets a function code, command Specifying Operation data 1, and command data 2, then turns the automatic operation start signal (ST) in the interface area
  • Page 953. PERIPHERAL EQUIPMENT CONTROL HANDLING B--65245EN/02 3.3 FUNCTION CODES 3.3.1 Function Codes Command data 1 Command data 2 Start Function code Mode Remarks 4 bits 4 bytes signal 0 : Jog JOG +X/--X operation 2 : ATC 1 : Automatic operation Turret/magazine Set an amount of travel operation/ (shortcu
  • Page 96B--65245EN/02 HANDLING 3. PERIPHERAL EQUIPMENT CONTROL NOTE 1 If the remaining distance to the next point is shorter than the required deceleration distance for stopping at that point when the feed axis and direction selection switch (+X, --X) is released, movement is made to the point immediately a
  • Page 973. PERIPHERAL EQUIPMENT CONTROL HANDLING B--65245EN/02 3.4 DETAILS OF FUNCTION CODES 3.4.1 ATC/Turret Control Host NC CNC PMC Servo amplifier unit operation state (1) O 0001 S Jog or Auto mode T xx Start enabled state Function code = 2 Processing by PMC Command data 1 (feed type code) Command data 2
  • Page 98B--65245EN/02 HANDLING 3. PERIPHERAL EQUIPMENT CONTROL (1) When the host NC program executes a T code command, the PMC on the host NC sets the function code, command data 1, and command data 2, then sends the ST signal or +X/--X signal to the servo amplifier unit. Upon receipt of the data, the servo
  • Page 993. PERIPHERAL EQUIPMENT CONTROL HANDLING B--65245EN/02 3.4.2 Point Positioning Control Host NC Servo amplifier unit operation state CNC PMC (1) Auto mode Start enabled state Function code = 3 Processing by PMC Command data 1 (feed type code) Command data 2 (point number) ST signal (2) Operation comp
  • Page 100B--65245EN/02 HANDLING 3. PERIPHERAL EQUIPMENT CONTROL (1) The PMC on the host NC sets the function code, command data 1, and command data 2, then sends the ST signal to the servo amplifier unit. Upon receipt of the data, the servo amplifier unit returns the operation completion signal OPC 1 to the
  • Page 1013. PERIPHERAL EQUIPMENT CONTROL HANDLING B--65245EN/02 3.4.3 Reference Position Return Host NC Servo amplifier unit operation state CNC PMC (1) Jog mode Start enabled state Function code = 4 Processing by PMC Command data 1 (reference position / number/reference position setting) ST signal, +X/--X s
  • Page 102B--65245EN/02 HANDLING 3. PERIPHERAL EQUIPMENT CONTROL (1) The PMC on the host NC sets the function code and command data 1, then sends the ST signal or +X/--X signal to the servo amplifier unit. Upon receipt of the data, the servo amplifier unit returns the operation completion signal OPC 1 to the
  • Page 1033. PERIPHERAL EQUIPMENT CONTROL HANDLING B--65245EN/02 3.4.4 Reference Position Setting (when the Reference Position External Setting Function is Used) Host NC Servo amplifier unit operation state CNC PMC Positioning to a reference position Jog mode Emergency stop release state Start of the referenc
  • Page 104B--65245EN/02 HANDLING 3. PERIPHERAL EQUIPMENT CONTROL (1) When the reference position external setting function is used, the PMC on the host NC sets the function code and command data 1, then sends the ST signal to the servo amplifier unit after positioning to the reference position. (2) Upon recei
  • Page 1053. PERIPHERAL EQUIPMENT CONTROL HANDLING B--65245EN/02 3.4.5 Positioning Control (Absolute/Incremental Specification) Host NC Servo amplifier unit operation state CNC PMC (1) O 0001 S Auto mode Start enabled state T xx Function code = 5, 6 Processing by PMC Command data 1 (feedrate code) Command dat
  • Page 106B--65245EN/02 HANDLING 3. PERIPHERAL EQUIPMENT CONTROL (1) The PMC on the host NC sets a function code, command data 1, and command data 2, then sends the ST signal to the servo amplifier unit. Upon receipt of the data, the servo amplifier unit returns the operation completion signal OPC 1 to the ho
  • Page 1073. PERIPHERAL EQUIPMENT CONTROL HANDLING B--65245EN/02 3.4.6 Speed Control 3.4.6.1 The speed control function executes speed control by specifying a speed Overview value as command data. Moreover, acceleration/deceleration is applied using a time constant (parameter No. 135) dedicated to speed contr
  • Page 108B--65245EN/02 HANDLING 3. PERIPHERAL EQUIPMENT CONTROL 3.4.6.3 A speed command value is specified using the following command: Peripheral equipment Command (host → servo amplifier unit) control command format #7 #6 #5 #4 #3 #2 #1 #0 Yy+2 Function code Command data 1 Yy+3 Yy+4 Command data 2 Yy+5 Yy+
  • Page 1093. PERIPHERAL EQUIPMENT CONTROL HANDLING B--65245EN/02 3.4.6.4 Command timing chart (1) Start of speed control Speed control is activated according to the timing chart shown below after the setting of function code = 7, command data 1 = 0, command data 2 = speed command value. ST OPC1 Driving of the
  • Page 110B--65245EN/02 HANDLING 3. PERIPHERAL EQUIPMENT CONTROL (3) Termination of speed control Speed control is terminated according to the timing chart shown below after the setting of function code = 7 and command data 1 = 1. ST OPC1 Driving of the motor (Termination) OPC4 TRQM 3.4.6.5 Parameter #7 #6 #5
  • Page 1113. PERIPHERAL EQUIPMENT CONTROL HANDLING B--65245EN/02 As a larger value is set in this parameter, the response to a velocity command improves, and servo rigidity increases. If an excessively large value is set, however, the servo system vibrates, and an unusual sound is generated during machine mov
  • Page 112B--65245EN/02 HANDLING 3. PERIPHERAL EQUIPMENT CONTROL Set a speed deviation check limit value in the speed control mode. If the difference between a command speed and actual speed exceeds the value set in this parameter in the speed control mode, alarm 447 is issued. 3.4.6.6 Signal #7 #6 #5 #4 #3 #
  • Page 1133. PERIPHERAL EQUIPMENT CONTROL HANDLING B--65245EN/02 When the overtravel alarm is issued, a gradual stop occurs, and the speed control mode is terminated. When the external reset signal ERS (Yy+1#0) is set to 1, a gradual stop occurs, and the speed control mode is terminated. When the interlock si
  • Page 114B--65245EN/02 HANDLING 3. PERIPHERAL EQUIPMENT CONTROL 3.4.7 Coordinate System Setting Host NC Servo amplifier unit operation state CNC PMC Start of coordinate Auto mode (1) system setting Start enabled state Processing Function code = 10 by PMC Command data 1 (coordinate system setting, magazine nu
  • Page 1153. PERIPHERAL EQUIPMENT CONTROL HANDLING B--65245EN/02 3.4.8 Rewriting of Parameters 3.4.8.1 When using the peripheral equipment control parameter rewrite function, Overview specify 12 as function code, a data size as command data 1, a parameter number and parameter value as command data 2, and star
  • Page 116B--65245EN/02 HANDLING 3. PERIPHERAL EQUIPMENT CONTROL 3.4.8.3 A parameter to be rewritten is specified using the following command: Peripheral equipment Command (host → servo amplifier unit) control command format #7 #6 #5 #4 #3 #2 #1 #0 Yy+2 Function code Command data 1 Yy+3 Yy+4 Command data 2 Yy
  • Page 1173. PERIPHERAL EQUIPMENT CONTROL HANDLING B--65245EN/02 3.4.8.4 Command timing chart ST OPC1 Rewriting being performed OPC4 3.4.8.5 Alarm No. LED indication Description Action Input data 1 is invalid. Check the specified value of input data 1 of a 250 function code command. Input data 2 is invalid. C
  • Page 118B--65245EN/02 HANDLING 3. PERIPHERAL EQUIPMENT CONTROL 3.4.9 Control of the Point Data External Setting Function Host NC Servo amplifier unit operation state CNC PMC Jog mode Start enabled state Start of data setting Function code = 14 (point data setting) (1) Processing by PMC Command data 1 (point
  • Page 1193. PERIPHERAL EQUIPMENT CONTROL HANDLING B--65245EN/02 3.4.10 Teaching--based Data Setting Control Host NC Servo amplifier unit operation state CNC PMC (1) Function code = 15 Jog mode Start enabled state +X --X A position to be set is indexed. (2) Start of data setting Processing by PMC Command data
  • Page 120B--65245EN/02 HANDLING 3. PERIPHERAL EQUIPMENT CONTROL 3.5 REFERENCE POSITION RETURN FUNCTION WITH DOGS 3.5.1 This function moves the machine movable part automatically or manually in a specified direction to return to a reference position. This method of Explanation of reference position return is
  • Page 1213. PERIPHERAL EQUIPMENT CONTROL HANDLING B--65245EN/02 A gradual stop occurs if a mode other than the jog feed mode is selected or the feed axis direction command signal (+X or --X) is turned off during reference position return. Reference position return must start at a point sufficiently away from
  • Page 122B--65245EN/02 HANDLING 3. PERIPHERAL EQUIPMENT CONTROL (i) LDW: Deceleration dog width (user unit) LDW > (VR((TR/2) + 11 + TS) + 4VL × TS)/60000 VR: Rapid traverse rate (user unit/min) TR: Rapid traverse time constant (msec) TS: Servo time constant (msec) VL: Feedrate after deceleration (user unit/m
  • Page 1233. PERIPHERAL EQUIPMENT CONTROL HANDLING B--65245EN/02 3.5.2 Parameter #7 #6 #5 #4 #3 #2 #1 #0 011 DZRN Size : 1 byte/bit type Standard value : 0 DZRN The reference position return function with dogs is: 0 : Disabled. (The reference position return function without dogs is selected.) 1 : Enabled. NO
  • Page 124B--65245EN/02 HANDLING 3. PERIPHERAL EQUIPMENT CONTROL 3.6 UPGRADING OF THE ROTATION AXIS CONTROL FUNCTION 3.6.1 Function for Specifying the Direction of Rotation Axis High--Speed Reference Position Return 3.6.1.1 The direction of high--speed reference position return of a rotation axis Explanation
  • Page 1253. PERIPHERAL EQUIPMENT CONTROL HANDLING B--65245EN/02 3.6.2 Rotation Axis Rotation Direction Sign Specification Function 3.6.2.1 With an absolute command for a rotation axis, a rotation direction can be Explanation of function specified using a sign. 3.6.2.2 When parameter No. 141 for specifying th
  • Page 126B--65245EN/02 HANDLING 3. PERIPHERAL EQUIPMENT CONTROL 3.7 UPGRADING OF THE CLAMP/UNCLAMP CONTROL FUNCTION 3.7.1 Start of the Timer Counting Until Servo--off in Clamp Processing 3.7.1.1 In clamp processing, the timer (parameter No. 168) counting until Explanation of function servo--off can be starte
  • Page 1273. PERIPHERAL EQUIPMENT CONTROL HANDLING B--65245EN/02 3.8 UPGRADING OF THE RESPONSE DATA READ FUNCTION 3.8.1 At present, response data cannot be read for a purpose other than display Overview during operation such as movement on axes. This function allows the host to read correct response data from
  • Page 128B--65245EN/02 HANDLING 3. PERIPHERAL EQUIPMENT CONTROL 3.8.3 The DI/DO signals are signals on the FANUC I/O Link. DI/DO Signals #7 #6 #5 #4 #3 #2 #1 #0 Yy+1 ABSRD #7 #6 #5 #4 #3 #2 #1 #0 Xx+1 ABSWT #7 #6 #5 #4 #3 #2 #1 #0 Xx+2 DSP2 DSP1 3.8.3.1 Response data write [Classification] completion signal
  • Page 1293. PERIPHERAL EQUIPMENT CONTROL HANDLING B--65245EN/02 3.8.4 Parameter #7 #6 #5 #4 #3 #2 #1 #0 005 ABSPS LDM Size : 1 byte/bit type Standard value : 0 ABSPS With the response data read function, the host and servo amplifier unit are: 0 : Not synchronized. 1 : Synchronized. (Even during movement on a
  • Page 130B--65245EN/02 HANDLING 3. PERIPHERAL EQUIPMENT CONTROL 3.8.5 Notes 1 This function is enabled only when bit 7 (ABSPS) of parameter No. 5 is set to 1. 2 This function can be used only with the peripheral equipment control interface. When this function is used, the direct command interface cannot be u
  • Page 1314. DIRECT COMMANDS HANDLING B--65245EN/02 4 DIRECT COMMANDS 104
  • Page 132B--65245EN/02 HANDLING 4. DIRECT COMMANDS 4.1 The servo amplifier unit receives a command issued in the specified format from the host, then executes the command. After command DIRECT COMMAND execution, the servo amplifier unit returns the result of command FORMAT execution to the host. Such command
  • Page 1334. DIRECT COMMANDS HANDLING B--65245EN/02 D Data types #7 #6 #5 #4 #3 #2 #1 #0 Byte type (BYTE): #7 #6 #5 #4 #3 #2 #1 #0 Word type Lower byte (WORD): Higher byte Data = (higher byte)*256 + (lower byte) #7 #6 #5 #4 #3 #2 #1 #0 Double precision type Lowest byte (DWORD): Second lowest byte Second highe
  • Page 134B--65245EN/02 HANDLING 4. DIRECT COMMANDS 4.2 DIRECT COMMAND CONTROL PROCEDURE 4.2.1 Direct commands are classified into two types: instruction commands Direct Command which are sent from the host to a servo amplifier unit, and response commands which are returned from a servo amplifier unit to the
  • Page 1354. DIRECT COMMANDS HANDLING B--65245EN/02 4.2.3 Response commands returned from the servo amplifier unit are controlled Response Command with EOREND, EOSTB, and EOPC. EOPC indicates that the response command is in continuous read mode. Control (EOREND, The host reads response data according to the f
  • Page 136B--65245EN/02 HANDLING 4. DIRECT COMMANDS 4.2.5 If an alarm is issued in the servo amplifier unit, DAL is set to 1. When Alarm (DAL) detailed information about the alarm is required, the host specifies the READ ALARM STATUS command. 4.2.6 The servo amplifier unit returns the result of execution usin
  • Page 1374. DIRECT COMMANDS HANDLING B--65245EN/02 4.3 DIRECT COMMANDS Function Function Subsection to code be referenced 1. Signal operation commands (1) Setting and releasing the torque limit 0x0C 4.4.1 (1) enable signal (2) Specifying the torque limit value 0x91 4.4.1 (2) 2. Parameters (1) Reading paramet
  • Page 138B--65245EN/02 HANDLING 4. DIRECT COMMANDS 4.4 DETAILS OF DIRECT COMMAND FUNCTIONS 4.4.1 Signal Operation (1) Setting and releasing the torque limit enable signal Commands The host specifies the setting and release of the torque limit enable signal. D Instruction command format #7 #6 #5 #4 #3 #2 #1 #
  • Page 1394. DIRECT COMMANDS HANDLING B--65245EN/02 4.4.2 Parameters (1) Reading parameters The host can read parameters for the servo amplifier unit. D Instruction command format #7 #6 #5 #4 #3 #2 #1 #0 Yy+4 Control flag 1 Yy+5 0 0 1 0 0 0 0 0 (0x20) Yy+6 Parameter No. (word type) Yy+7 Parameter No. (word ty
  • Page 140B--65245EN/02 HANDLING 4. DIRECT COMMANDS DWORD type #7 #6 #5 #4 #3 #2 #1 #0 Xx+4 Control flag 2 Xx+5 0 0 1 0 0 0 0 0 (0x20) Xx+6 Reserved Execution result Xx+7 Data length (byte type ) = 4 Xx+8 Parameter (DWORD type) Xx+9 Parameter (DWORD type) Xx+10 Parameter (DWORD type) Xx+11 Parameter (DWORD ty
  • Page 1414. DIRECT COMMANDS HANDLING B--65245EN/02 Word type #7 #6 #5 #4 #3 #2 #1 #0 Yy+4 Control flag 1 Yy+5 0 0 1 0 0 0 0 1 (0x21) Yy+6 Parameter No. (word type) Yy+7 Parameter No. (word type) Yy+8 0 0 0 0 0 0 0 1 Yy+9 Data length (byte type) = 2 Yy+10 Parameter (word type) DWORD type #7 #6 #5 #4 #3 #2 #1
  • Page 142B--65245EN/02 HANDLING 4. DIRECT COMMANDS 4.4.3 Status Read (1) Reading the absolute position The host can read the absolute position of the servo amplifier unit. D Instruction command format #7 #6 #5 #4 #3 #2 #1 #0 Yy+4 Control flag 1 Yy+5 0 0 1 1 0 0 0 0 (0x30) Yy+6 0 0 0 0 0 0 0 1 D Response comm
  • Page 1434. DIRECT COMMANDS HANDLING B--65245EN/02 (3) Reading the servo delay The host can read the servo delay in the servo amplifier unit. D Instruction command format #7 #6 #5 #4 #3 #2 #1 #0 Yy+4 Control flag 1 Yy+5 0 0 1 1 0 0 1 1 (0x33) Yy+6 0 0 0 0 0 0 0 1 D Response command format #7 #6 #5 #4 #3 #2 #
  • Page 144B--65245EN/02 HANDLING 4. DIRECT COMMANDS (5) Reading the actual feedrate The host can read the actual feedrate of the servo amplifier unit. D Instruction command format #7 #6 #5 #4 #3 #2 #1 #0 Yy+4 Control flag 1 Yy+5 0 0 1 1 0 1 1 0 (0x36) D Response command format #7 #6 #5 #4 #3 #2 #1 #0 Xx+4 Con
  • Page 1454. DIRECT COMMANDS HANDLING B--65245EN/02 Motion :0 *** 2 DWL 1 MTN Emergency :0 **** 2 RSET 1 EMG Alarm :0 **** 2 BAT 1 ALM (7) Reading alarm information When an alarm is issued in the servo amplifier unit, the host can read the alarm number of the alarm. Among issued alarm numbers, up to three ala
  • Page 146B--65245EN/02 HANDLING 4. DIRECT COMMANDS (8) Reading the series and edition of system software The host can read the series and edition of system software. D Instruction command format #7 #6 #5 #4 #3 #2 #1 #0 Yy+4 Control flag 1 Yy+5 0 0 1 1 1 1 1 1 (0x3F) D Response command format #7 #6 #5 #4 #3 #
  • Page 1474. DIRECT COMMANDS HANDLING B--65245EN/02 Two separate response commands are output. The output data of the first response command and that of the second are as follows: #7 #6 #5 #4 #3 #2 #1 #0 Xx+4 Control flag 2 Xx+5 0 0 1 1 1 1 1 1 (0x3F) Xx+6 Reserved Execution result Xx
  • Page 148B--65245EN/02 HANDLING 4. DIRECT COMMANDS (9) Reading data continuously The host can read servo amplifier unit status data such as the absolute position, machine position, and servo delay, continuously. D Instruction command format #7 #6 #5 #4 #3 #2 #1 #0 Yy+4 Control flag 1 Yy+5 0 1 0 0 0 0 0 1 (0x
  • Page 1494. DIRECT COMMANDS HANDLING B--65245EN/02 (a) Reading the absolute coordinates 0x01 D Data specification code for continuous read #7 #6 #5 #4 #3 #2 #1 #0 0 0 0 0 0 0 0 0 1 (0x01) 1 0 0 0 0 0 0 0 1 D Continuous read data format #7 #6 #5 #4 #3 #2 #1 #0 0 0 0 0 0 0 0 0 1 (0x01) 1 Reserved Execution res
  • Page 150B--65245EN/02 HANDLING 4. DIRECT COMMANDS (c) Reading the servo position deviation 0x03 D Data specification code for continuous read #7 #6 #5 #4 #3 #2 #1 #0 0 0 0 0 0 0 0 1 1 (0x03) 1 0 0 0 0 0 0 0 1 D Continuous read data format #7 #6 #5 #4 #3 #2 #1 #0 0 0 0 0 0 0 0 1 1 (0x03) 1 Reserved Execution
  • Page 1514. DIRECT COMMANDS HANDLING B--65245EN/02 (e) Reading the actual feedrate 0x05 D Data specification code for continuous read #7 #6 #5 #4 #3 #2 #1 #0 0 0 0 0 0 0 1 0 1 (0x05) D Continuous read data format #7 #6 #5 #4 #3 #2 #1 #0 0 0 0 0 0 0 1 0 1 (0x05) 1 Reserved Execution result 2 Feedrate (DWORD t
  • Page 152B--65245EN/02 HANDLING 4. DIRECT COMMANDS 4.4.4 Axis movement commands are executed in AUTO mode. Axis Movement CAUTION Commands Do not change the mode during operation. Change the mode only after operation stops. (1) Reference position return This command instructs the servo amplifier unit to perfo
  • Page 1534. DIRECT COMMANDS HANDLING B--65245EN/02 (2) Absolute positioning This command instructs the servo amplifier unit to perform absolute positioning. The motor moves through an amount equal to the difference between a specified absolute position and the current position. D Instruction command format #
  • Page 154B--65245EN/02 HANDLING 4. DIRECT COMMANDS (3) Incremental positioning This command instructs the servo amplifier unit to perform incremental positioning. The motor moves through a specified amount of travel. D Instruction command format #7 #6 #5 #4 #3 #2 #1 #0 Yy+4 Control flag 1 Yy+5 0 1 1 0 0 0 1
  • Page 1554. DIRECT COMMANDS HANDLING B--65245EN/02 (4) Dwell This command instructs the servo amplifier unit to perform dwell. The execution of the next block can be delayed by a specified amount of time. D Instruction command format #7 #6 #5 #4 #3 #2 #1 #0 Yy+4 Control flag 1 Yy+5 0 1 1 0 0 0 1 1 (0x63) Yy+
  • Page 156B--65245EN/02 HANDLING 4. DIRECT COMMANDS (6) Acquiring the FIN state The host issues this command to check whether the servo amplifier unit is waiting for FIN in command completion notification mode. D Instruction command format #7 #6 #5 #4 #3 #2 #1 #0 Yy+4 Control flag 1 Yy+5 0 1 1 0 0 1 1 0 (0x66
  • Page 1574. DIRECT COMMANDS HANDLING B--65245EN/02 (8) Wait command This command instructs the servo amplifier unit to wait. When this command is executed, the servo amplifier unit outputs wait signal WAT [2.3.14 (14)] to the host, then enters the wait state. To release the wait state, the host sets wait com
  • Page 158B--65245EN/02 HANDLING 4. DIRECT COMMANDS 4.5 THIRTY--TWO-- BLOCK BUFFERING OPERATION 4.5.1 The host can register and execute up to 32 blocks of direct commands in Outline the internal memory of the servo amplifier unit. NOTE One block consists of one instruction command which is a direct command. 4
  • Page 1595. EXTERNAL PULSE INPUT FUNCTION HANDLING B--65245EN/02 5 EXTERNAL PULSE INPUT FUNCTION 132
  • Page 160B--65245EN/02 HANDLING 5. EXTERNAL PULSE INPUT FUNCTION 5.1 This function enables movement in sync with external pulses generated from the machine. OUTLINE Apply external pulses via the external pulse input interface. 133
  • Page 1615. EXTERNAL PULSE INPUT FUNCTION HANDLING B--65245EN/02 5.2 DETAILED Pulse input DESCRIPTION External pulse Servo Machine x ratio x CMR amplifier input interface unit (1) External pulses are applied via the external pulse input interface. The A--phase (PA, *PA) and B--phase (PB, *PB) signals are use
  • Page 162III. TROUBLESHOOTING AND COUNTERMEASURES
  • Page 163TROUBLESHOOTING AND B--65245EN/02 COUNTERMEASURES 1. OVERVIEW 1 OVERVIEW This part describes troubleshooting procedures to be applied in the event of a failure. If a failure occurs, determine the cause and apply an appropriate countermeasure while referring to the corresponding description in this m
  • Page 1642 ALARM DISPLAY AND CORRESPONDING TROUBLESHOOTING AND COUNTERMEASURES COUNTERMEASURES B--65245EN/02 2 ALARM DISPLAY AND CORRESPONDING COUNTERMEASURES Number Alarm type 000 to 299 Program or setting alarm 300 to 399, 401 Pulse coder alarm 400 to 499 (except 401) Servo alarm 500 to 599 Overtravel alar
  • Page 1652. ALARM DISPLAY AND TROUBLESHOOTING AND CORRESPONDING B--65245EN/02 COUNTERMEASURES COUNTERMEASURES No. LED display Description Countermeasure The interface switch signal (DRC) was switched Switch the signal after block execution stops. 290 during block execution. The speed of an axial movement spe
  • Page 1662 ALARM DISPLAY AND CORRESPONDING TROUBLESHOOTING AND COUNTERMEASURES COUNTERMEASURES B--65245EN/02 No. LED display Description Countermeasure The battery voltage of the absolute pulse coder Replace the battery. 351 is low. (warning) A communication error was detected in the seri- Check the continui
  • Page 1672. ALARM DISPLAY AND TROUBLESHOOTING AND CORRESPONDING B--65245EN/02 COUNTERMEASURES COUNTERMEASURES No. LED display Description Countermeasure [SVU--12, SVU--20] This alarm is issued when an excessively large An overcurrent alarm is issued. current flows in the main circuit. (1) Check whether a val
  • Page 1682 ALARM DISPLAY AND CORRESPONDING TROUBLESHOOTING AND COUNTERMEASURES COUNTERMEASURES B--65245EN/02 No. LED display Description Countermeasure A DC link overvoltage alarm is issued. This alarm is issued when the DC voltage of the main circuit power is too high. (1) When SVU--12 or SVU--20 is used, a
  • Page 1692. ALARM DISPLAY AND TROUBLESHOOTING AND CORRESPONDING B--65245EN/02 COUNTERMEASURES COUNTERMEASURES No. LED display Description Countermeasure The positive soft stroke limit has been Check whether appropriate values have been 510 exceeded. specified for parameters No.142 and 143. Check whether a va
  • Page 170TROUBLESHOOTING AND 3. ACTION AGAINST NOISE COUNTERMEASURES B--65245EN/02 3 ACTION AGAINST NOISE The servo amplifier unit has been steadily reduced in size using surface--mount and custom LSI technologies for electronic components. The servo amplifier unit also is designed to be protected from exter
  • Page 171TROUBLESHOOTING AND B--65245EN/02 COUNTERMEASURES 3. ACTION AGAINST NOISE D Separating signal lines The cables used for the machine are classified as listed in the following table: Process the cables in each group as described in the action column. Group Signal line Action Primary AC power line Bind
  • Page 172TROUBLESHOOTING AND 3. ACTION AGAINST NOISE COUNTERMEASURES B--65245EN/02 D Ground The following ground systems are provided for the CNC machine tool: D The signal ground supplies the reference voltage (0V) of the electrical signal system. D The frame ground system is used for safety, and suppressin
  • Page 173TROUBLESHOOTING AND B--65245EN/02 COUNTERMEASURES 3. ACTION AGAINST NOISE D Connecting the Frame Connect the 0 V line of the electronic circuit in the servo amplifier unit Ground of the Servo with the ground plate of the cabinet via the frame ground (FG) terminal. Amplifier Unit The SG terminal is l
  • Page 174TROUBLESHOOTING AND 3. ACTION AGAINST NOISE COUNTERMEASURES B--65245EN/02 D Noise Suppressor The AC/DC solenoid and relay are used in the power magnetics cabinet. A high pulse voltage is caused by coil inductance when these devices are turned on or off. This pulse voltage induced through the cable c
  • Page 175TROUBLESHOOTING AND B--65245EN/02 COUNTERMEASURES 3. ACTION AGAINST NOISE D Cable Clamp and Shield The servo amplifier unit cables that require shielding should be clamped Processing by the method shown below. This cable clamp treatment is for both cable support and proper grounding of the shield. T
  • Page 176IV. MAINTENANCE OF SERVO AMPLIFIER UNIT
  • Page 177MAINTENANCE OF 1. REPLACING BATTERY OF B--65245EN/02 SERVO AMPLIFIER UNIT THE ABSOLUTE PULSE CODER 1 REPLACING BATTERY OF THE ABSOLUTE PULSE CODER When an absolute pulse coder is used, a battery is provided for the absolute pulse coder. When the voltage of this battery falls, alarm 350 or 351 is iss
  • Page 1781. REPLACING BATTERY OF MAINTENANCE OF THE ABSOLUTE PULSE CODER SERVO AMPLIFIER UNIT B--65245EN/02 (2) Connection to the battery (SVU--40, SVU--80) The battery is connected in either of the two ways shown below: (a) 6--V lithium battery 1. Have a new 6--V lithium battery (order code: A06B--6093--K00
  • Page 179MAINTENANCE OF 1. REPLACING BATTERY OF B--65245EN/02 SERVO AMPLIFIER UNIT THE ABSOLUTE PULSE CODER 6--V lithium battery for absolute pulse coder Battery cover Fig. For SVU--12 and SVU--20 155
  • Page 1801. REPLACING BATTERY OF MAINTENANCE OF THE ABSOLUTE PULSE CODER SERVO AMPLIFIER UNIT B--65245EN/02 To mount the battery cover, first hook these two claws to the unit, then press the cover until it snaps in position. Run the battery cable through this groove. To remove the battery cover, pull it out
  • Page 181MAINTENANCE OF 1. REPLACING BATTERY OF B--65245EN/02 SERVO AMPLIFIER UNIT THE ABSOLUTE PULSE CODER 3. Loosen the screws on the battery case. Remove the cover. 4. Replace the dry cells in the case. Orient the batteries as shown below. Pay careful attention to the polarity of the dry cells. Screw Cove
  • Page 182MAINTENANCE OF 2. REPLACING FAN MOTOR SERVO AMPLIFIER UNIT B--65245EN/02 2 REPLACING FAN MOTOR WARNING Before replacing the fan motor, turn off the 200 VAC power supply for motive power and the 24 VDC power supply for control, then check, on the front of the servo amplifier unit, that the red LED in
  • Page 183MAINTENANCE OF B--65245EN/02 SERVO AMPLIFIER UNIT 2. REPLACING FAN MOTOR 2.1 FOR SERVO CAUTION AMPLIFIER UNITS OF When the servo amplifier unit is used in an absolute system, THE 12A AND 20A check the reference position return procedure before TYPES replacing the fan. During fan replacement, the ref
  • Page 184MAINTENANCE OF 2. REPLACING FAN MOTOR SERVO AMPLIFIER UNIT B--65245EN/02 2.2 FOR SERVO 1. Have a replacement fun unit on hand. AMPLIFIER UNITS OF 2. On the fan unit located at the top the servo amplifier unit, release the front and rear latches to remove the fan unit. THE 40A AND 80A 3. Remove the f
  • Page 185MAINTENANCE OF B--65245EN/02 SERVO AMPLIFIER UNIT 3. REPLACING FUSE 3 REPLACING FUSE WARNING Before replacing the fuse, remove the cause of the fuse blowout. Consequently, only those personnel who have received approved safety and maintenance training may perform this replacement. Before replacing t
  • Page 186MAINTENANCE OF 3. REPLACING FUSE SERVO AMPLIFIER UNIT B--65245EN/02 3.1 REPLACING THE CAUTION FUSE IN THE SERVO When the servo amplifier unit is used in an absolute system, AMPLIFIER UNITS OF check the reference position return procedure before THE 12A AND 20A replacing the fuse. During fuse replace
  • Page 187MAINTENANCE OF B--65245EN/02 SERVO AMPLIFIER UNIT 3. REPLACING FUSE 3.2 REPLACING THE 1. Have a replacement fuse (A06B--6073--K250) on hand. FUSE IN THE SERVO 2. Replace the fuse from the front of the servo amplifier unit, referring to Fig. 2 in Appendix A. AMPLIFIER UNITS OF THE 40A AND 80A TYPES 1
  • Page 188MAINTENANCE OF 3. REPLACING FUSE SERVO AMPLIFIER UNIT B--65245EN/02 3.3 SPECIFICATIONS OF Use Specifications THE FUSES FOR Fuse for control FANUC specifications: A06B--6073--K250 SERVO AMPLIFIER power supply Manufacturer specifications: LM32C, 48 VDC, F3.2A Daito Tsushinki Co., Ltd. UNITS 164
  • Page 189V. MAINTENANCE OF SERVO MOTOR
  • Page 190MAINTENANCE OF B--65245EN/02 SERVO MOTOR 1. MAINTENANCE OF SERVO MOTOR 1 MAINTENANCE OF SERVO MOTOR The ϒ--series servo motors generally do not require periodic maintenance because the motors have no wearing components, such as the brushes of a DC motor. However, incorrect operation or damage during
  • Page 191MAINTENANCE OF 1. MAINTENANCE OF SERVO MOTOR SERVO MOTOR B--65245EN/02 1.1 Upon taking delivery of a servo motor, check the following points: ACCEPTANCE D Is the motor of the correct specification? (model, shaft, detector, etc.) INSPECTION AND D Has the motor been damaged in transit? SERVO MOTOR D C
  • Page 192MAINTENANCE OF B--65245EN/02 SERVO MOTOR 1. MAINTENANCE OF SERVO MOTOR 1.2 Make the following checks before starting operation, or once a week or month. ROUTINE CHECK OF SERVO MOTOR (1) Vibration or abnormal noise Check the servo motor for abnormal vibration or noise in the following statuses: D Whi
  • Page 193MAINTENANCE OF 1. MAINTENANCE OF SERVO MOTOR SERVO MOTOR B--65245EN/02 (4) Insulation resistance check Measure the insulation resistance between the motor winding and motor frame, using a megohmmeter (500 VDC). Determine whether the insulation resistance is satisfactory according to the standards li
  • Page 194MAINTENANCE OF B--65245EN/02 SERVO MOTOR 1. MAINTENANCE OF SERVO MOTOR 1.3 Make the following checks about once a year. PERIODIC CHECK OF (1) Observation of torque command (TCMD) waveform and velocity command (VCMD) waveform SERVO MOTOR Using an oscilloscope, display a normal voltage waveform. Compa
  • Page 195MAINTENANCE OF 1. MAINTENANCE OF SERVO MOTOR SERVO MOTOR B--65245EN/02 2. Check whether the waveform is distorted during constant--speed feed. Distortion Observed waveform 3. Check whether the current waveform is distorted in the stop state. Distortion Observed waveform If any abnormality is found w
  • Page 196MAINTENANCE OF B--65245EN/02 SERVO MOTOR 1. MAINTENANCE OF SERVO MOTOR 1.4 The order codes for maintenance parts are listed below: ORDER CODES OF (1) Oil seal (NOK Corporation) REPLACEMENT Motor model Oil seal code (manufacturer code) COMPONENTS ϒ 0.5 A98L--0001--0135/E0526A9 *1 (AE0514A9 SC type) A
  • Page 197APPENDIXE
  • Page 198B--65245EN/02 APPENDIXES A. SERVO AMPLIFIER UNIT FRONT VIEW A SERVO AMPLIFIER UNIT FRONT VIEW Charging indicator LED FUSE Fig. A (a) SVU--12, SVU--20 177
  • Page 199A. SERVO AMPLIFIER UNIT FRONT VIEW APPENDIXES B--65245EN/02 FUSE Charging indicator LED Fig. A (b) SVU--40, SVU--80 178
  • Page 200B--65245EN/02 APPENDIXES B. PARAMETERS B PARAMETERS Table B (a) Parameter list (in order of classification) Classification Parameter number Ref. item Controlled--axis parameter 000 B.1 Coordinate system and 001, 068, 140 to 145, 147, 154 B.2 stroke limit parameters to 165, 170 021, 040, 041, 043 to
  • Page 201B. PARAMETERS APPENDIXES B--65245EN/02 Table B (a) Parameter list (in order of parameter number) Parameter number Ref. item 070to 075, 078 to 092, 100 to 111, 116, 135, 136 B.6 140 to 145, 147 B.2 148 to 152 B.5 154 to 165 B.2 166 to 169 B.5 170 B.2 180 to 182 B.6 CAUTION Do not change any parameter
  • Page 202B--65245EN/02 APPENDIXES B. PARAMETERS B.1 CONTROLLED--AXIS #7 #6 #5 #4 #3 #2 #1 #0 PARAMETERS 000 ROAX RABX RAB2X ROTX Size : 1 byte (bit type) Standard value : 0 ROTX Specifies whether the controlled axis is a linear or rotation axis, as follows: 0 : Linear axis 1 : Rotation axis RAB2X Specifies w
  • Page 203B. PARAMETERS APPENDIXES B--65245EN/02 B.2 COORDINATE #7 #6 #5 #4 #3 #2 #1 #0 SYSTEM AND 001 EPEXB EPEXA N405 SSL1 HOT ZRTN STROKE LIMIT Size : 1 byte (bit type) PARAMETERS Standard value : 0 ZRTN Specifies whether an alarm is to be issued if a reference position is not set up, as follows: 0 : An al
  • Page 204B--65245EN/02 APPENDIXES B. PARAMETERS 068 Number of magazines/turrets Size : 2--byte Range : 1 to 9999 Standard value :0 Description : Sets up the number of magazines/turrets. 140 Machine coordinate of the reference position Size : 4 bytes Unit : User--specified unit Range : 0 to 99999999 Standard
  • Page 205B. PARAMETERS APPENDIXES B--65245EN/02 144 Machine coordinate for the second reference position 145 Machine coordinate for the third reference position Size : 4 bytes Unit : User--specified unit Range : 0 to 99999999 Standard value :0 Description : Sets up the machine coordinates for the second and
  • Page 206B--65245EN/02 APPENDIXES B. PARAMETERS B.3 FEEDRATE 021 Feedrate command weight N PARAMETERS Size : 1 byte Unit : Range : 0 to 8 Standard value :3 Description : Sets up a weight for feedrate parameter Nos. 40, 41, 43 to 50, 54, 59 to 61. Supposing 3 is specified, the feedrate is assumed to be a para
  • Page 207B. PARAMETERS APPENDIXES B--65245EN/02 044 Feedrate specified for feedrate code 1 045 Feedrate specified for feedrate code 2 046 Feedrate specified for feedrate code 3 047 Feedrate specified for feedrate code 4 048 Feedrate specified for feedrate code 5 049 Feedrate specified for feedrate code 6 050
  • Page 208B--65245EN/02 APPENDIXES B. PARAMETERS B.4 ACCELERATION/ #7 #6 #5 #4 #3 #2 #1 #0 DECELERATION 002 JOGE RPDE CONTROL Size : 1 byte (bit type) PARAMETERS Standard value : 0 RPDE Specifies the acceleration/deceleration type for rapid traverse, as follows: 0 : Linear or bell--shaped acceleration/deceler
  • Page 209B. PARAMETERS APPENDIXES B--65245EN/02 057 Linear acceleration/deceleration time constant or bell--shaped acceleration/ deceleration time constant T1 for jog feed or feed based on feedrate codes 1 to 7 Exponential acceleration/deceleration time constant for jog feed or feed based on feedrate codes 1
  • Page 210B--65245EN/02 APPENDIXES B. PARAMETERS B.5 INPUT/OUTPUT #7 #6 #5 #4 #3 #2 #1 #0 SIGNALS 003 STON EXPLS WAT2 IGCP NCLP PARAMETERS Size : 1 byte (bit type) Standard value : 1 only for NCLP NCLP Specifies whether to use clamping/unclamping, as follows: 0 : Clamping/unclamping is used. 1 : Clamping/uncl
  • Page 211B. PARAMETERS APPENDIXES B--65245EN/02 NEPRM Specifies whether to perform writing to the EEPROM (memory for storing parameter settings) when rewriting parameters using peripheral device control or a direct command, as follows: 0 : Writing is performed. 1 : Writing is not performed. CAUTION 1 There i
  • Page 212B--65245EN/02 APPENDIXES B. PARAMETERS #7 #6 #5 #4 #3 #2 #1 #0 005 ABSPS LDM REFDRC CLPSVF JNCL Size : 1 byte (bit type) Standard value : 0 JNCL Specifies whether to use clamping when JOG operation stops, as follows: 0 : Clamping is performed. 1 : Clamping is not performed. (The unclamp state is pre
  • Page 213B. PARAMETERS APPENDIXES B--65245EN/02 020 Response data specification (PHOUT) Size : 1 byte Standard value : 3 PHOUT Specifies whether or what to output as response data (Xx+3 to Xx+6), as follows: 0 : Nothing is output. 1 : An ATC and point No. are output if an ATC cycle and point positioning are
  • Page 214B--65245EN/02 APPENDIXES B. PARAMETERS 148 Servo positional deviation monitor amount Size : 4 bytes Unit : Detection unit Range : 0 to 99999999 Standard value : 99999999 Description : Specifies the servo positional deviation monitor amount. The SVERX signal becomes 1 when the servo positional deviat
  • Page 215B. PARAMETERS APPENDIXES B--65245EN/02 NOTE If 0 is set, no operation completion signal is not output. 167 Time between servo--on and unclamping Size : 4 bytes Unit : 8 ms Range : 0 to 99999999 Standard value :0 Description : Specifies a time interval from the time the servo system is switched on un
  • Page 216B--65245EN/02 APPENDIXES B. PARAMETERS B.6 SERVO #7 #6 #5 #4 #3 #2 #1 #0 PARAMETERS 010 SVFP ZMIX IEBL IALM IINP Size : 1 byte (bit type) SVFP Specifies whether to perform follow--up, as follows: 0 : Follow--up is not performed. 1 : Follow--up is performed. ZMIX Specifies the initial direction of ba
  • Page 217B. PARAMETERS APPENDIXES B--65245EN/02 #7 #6 #5 #4 #3 #2 #1 #0 011 APCX DZRN SZRN ABSX Size : 1 byte (bit type) APCX Indicates whether a detector for an absolute pulse coder is available. 0 : Unavailable 1 : Available DZRN Specifies whether the reference position return function with dogs is valid,
  • Page 218B--65245EN/02 APPENDIXES B. PARAMETERS These parameters determine the scale of data on channels 1 and 5, as listed below: VCM2 VCM1 CH1 0 0 VCMD is shifted 3 bits to the right before being output (5 V corresponds to 3750 rpm). 0 1 VCMD is shifted 1 bit to the left before being output (5 V correspond
  • Page 219B. PARAMETERS APPENDIXES B--65245EN/02 030 Motor type Size : 1 byte Valid data range : 1 to 99 This parameter enables the host to specify the type number of a motor to be used. The following table lists the types and numbers of motors that can be used with the ϒ series amplifiers, the related orderi
  • Page 220B--65245EN/02 APPENDIXES B. PARAMETERS 032 Command multiplier (CMR) Size : 1 byte Valid data range : 2 to 96 and 102 to 127 NOTE Only even numbers in the range of 2 to 96 can be set. Standard setting : 2 This parameter is used to set up a ratio of the command increment to the detection increment. Le
  • Page 221B. PARAMETERS APPENDIXES B--65245EN/02 CAUTION On an axis where the absolute--position detector is used, the reference position is stored using the coordinates of the absolute--position detector. On a rotation axis, to preserve the positional relationship between the coordinates of the absolute--pos
  • Page 222B--65245EN/02 APPENDIXES B. PARAMETERS NOTE If K is equal to or greater than 2, servo alarm No. 405 may be issued during reference position return. In this case, set N405 (bit 4 of parameter No. 001) to “1” to prevent the alarm from being issued. 070 Current loop gain (PK1) Size : 2 bytes Valid data
  • Page 223B. PARAMETERS APPENDIXES B--65245EN/02 080 Current limit value (TQLIM) Size : 2 bytes Valid data range : 0 to 7282 Do not change the standard setting. 081 Overload protection coefficient (POVC1) Size : 2 bytes Valid data range : 0 to 32767 This is a coefficient for an alarm used to protect the motor
  • Page 224B--65245EN/02 APPENDIXES B. PARAMETERS 087 Current compensation 5 (DETQLM) Size : 2 bytes Valid data range : 0 to 32767 Do not change the standard setting. 088 Current compensation 6 (NINTCT) Size : 2 bytes Valid data range : 0 to 32767 Do not change the standard setting. 089 Current compensation 7
  • Page 225B. PARAMETERS APPENDIXES B--65245EN/02 If the value obtained using this formula is greater than 500, the parameter should be set to 500. Setting this value causes speed loop gains PK1V and PK2V to be multiplied by: 1+ LDINT/256 Setting the parameter to a larger value makes response to speed commands
  • Page 226B--65245EN/02 APPENDIXES B. PARAMETERS 104 Velocity feed--forward coefficient (VFFLT) Size : 2 bytes Unit :% Valid data range : 0 to 1000 Standard setting : 0 This is a velocity feed--forward coefficient parameter. For a motor with no load, 100 specified in the parameter corresponds a coefficient of
  • Page 227B. PARAMETERS APPENDIXES B--65245EN/02 NOTE If the number of pulses per motor revolution (parameters Nos. 105 and 106) is very small, a position gain overflow may occur, causing an excessively large error during stopping or movement. Check that the number of pulses per motor revolution is greater th
  • Page 228B--65245EN/02 APPENDIXES B. PARAMETERS 108 Servo motor torque limit Size : 2 bytes Valid data range : 0 to 7282 Standard setting : 0 Applying a torque limit to the servo motor enables positioning in reference to a mechanical stopper. Setting bit 2 of parameter No. 10 (IEBL) validates a torque limit
  • Page 229B. PARAMETERS APPENDIXES B--65245EN/02 Assume the following: Integral gain = 100 Proportional gain = --500 Load inertia ratio = 128 Velocity loop gain override during velocity control = 200% [Gain during position control] Integral gain = 100×(1+128/256) = 150 Proportional gain = --500×(1+128/256) =
  • Page 230B--65245EN/02 APPENDIXES B. PARAMETERS 181 Grid shift amount Size : 4 bytes Valid data range : 0 to 99999999 Standard setting : 0 A grid position can be shifted by the amount specified in this parameter so that the reference position can be shifted. The unit of shift is a detection increment. The m
  • Page 231B. PARAMETERS APPENDIXES B--65245EN/02 B.7 DIGITAL SERVO STANDARD PARAMETER TABLE Motor model ∼ C3/2000 ∼ C6/2000 ∼ C12/2000 ∼ C22/1500 ϒ 0.5/3000 ∼ 3/3000 ∼ 6/2000 ∼ 6/3000 Motor order- 0121 0126 0141 0145 0113 0123 0127 0128 ing code Motor type 7 8 9 10 13 15 16 17 Symbol Parameter No. PK1 70 1600
  • Page 232B--65245EN/02 APPENDIXES B. PARAMETERS Motor model ∼ 12/2000 ∼ 12/3000 ∼ 22/2000 ∼ M2 ∼ M2.5 ∼ M6/3000 ∼ M9/3000 ∼ 22/1500 Motor order- 0142 0143 0147 0376 0377 0162 0163 0146 ing code Motor type 18 19 20 98 99 25 26 27 Symbol Parameter No. PK1 70 3121 1324 1975 600 400 950 748 2330 PK2 71 --4953 --
  • Page 233B. PARAMETERS APPENDIXES B--65245EN/02 Motor model ∼ 1/3000 ∼ 2/3000 Motor order- 0371 0373 ing code Motor type 61 62 Symbol Parameter No. PK1 70 390 530 PK2 71 --1053 --1653 PK3 72 --2480 --2490 PK1V 73 54 62 PK2V 74 --973 --1119 PK4V 75 --8235 --8235 PPMAX 76 21 21 PDDP 77 1849 1849 PVPA 78 2330 -
  • Page 234B--65245EN/02 APPENDIXES C. DIAGNOSIS LISTS C DIAGNOSIS LISTS Diagnosis is carried out using the diagnosis screen of the power mate CNC manager on the host. 213
  • Page 235C. DIAGNOSIS LISTS APPENDIXES B--65245EN/02 C.1 SIGNALS SENT FROM CNC (HOST) TO SERVO AMPLIFIER UNIT C.1.1 Peripheral Equipment Control Interface #7 #6 #5 #4 #3 #2 #1 #0 (DRC = 0) 000 ST UCPS2 --X +X DSAL MD4 MD2 MD1 001 IGNVRY DRC ABSRD *ILK SVFX *ESP ERS 002 Function code Command data 1 003 Comman
  • Page 236B--65245EN/02 APPENDIXES C. DIAGNOSIS LISTS C.1.2 Direct Command #7 #6 #5 #4 #3 #2 #1 #0 Interface (DRC = 1) 000 ST --X +X MD4 MD2 MD1 001 IGNVRY DRC WFN *ILK SVFX *ESP ERS 002 RT DRN ROV2 ROV1 *OV8 *OV4 *OV2 *OV1 003 INPF 004 EBUF EOREND ECNT 005 Direct command (function code) 006 Direct command (c
  • Page 237C. DIAGNOSIS LISTS APPENDIXES B--65245EN/02 C.2 SIGNALS SENT FROM SERVO AMPLIFIER UNIT TO CNC (HOST) C.2.1 Peripheral Equipment Control Interface #7 #6 #5 #4 #3 #2 #1 #0 (DRC = 0) 016 OPC4 OPC3 OPC2 OPC1 INPX SUPX IPLX DEN2 017 OP SA STL UCPC2 DRCO ABSWT 018 MA AL DSP2 DSP1 DSALO TRQM RST ZPX 019 Re
  • Page 238B--65245EN/02 APPENDIXES C. DIAGNOSIS LISTS C.2.2 Direct Command #7 #6 #5 #4 #3 #2 #1 #0 Interface (DRC = 1) 016 INPX SUPX IPLX DEN2 017 OP SA STL DRCO WAT 018 MA AL RST ZPX 019 INPFO SVERX PSG2 PSG1 MVX APBAL MVDX 020 EBSY EOSTB ECF USR1 EOPC DAL ECONT 021 Direct command (function code) 022 Reserve
  • Page 239C. DIAGNOSIS LISTS APPENDIXES B--65245EN/02 C.3 SERVO POSITIONAL 032 Servo positional deviation amount (servo amplifier unit) DEVIATION AMOUNT (SERVO AMPLIFIER UNIT) C.4 ACCELERATION/ 033 Acceleration/deceleration delay amount (servo amplifier unit) DECELERATION DELAY AMOUNT (SERVO AMPLIFIER UNIT) 2
  • Page 240D. POWER MATE CNC B--65245EN/02 APPENDIXES MANAGER FUNCTIONS D POWER MATE CNC MANAGER FUNCTIONS 219
  • Page 241D. POWER MATE CNC MANAGER FUNCTIONS APPENDIXES B--65245EN/02 D.1 This chapter explains the power mate CNC manager functions used by the CNC to set up and display the types of data for servo amplifier unit. OVERVIEW The functions provided are: (1) Current position display (absolute/machine coordinate
  • Page 242D. POWER MATE CNC B--65245EN/02 APPENDIXES MANAGER FUNCTIONS D.2 The CNC assigns I/O addresses for it. Because the CNC exchanges data with an servo amplifier unit in 16--byte units, it is necessary to set the I/O LINK number of input/output points to 128. Up to eight servo amplifier unit can CONNECT
  • Page 243D. POWER MATE CNC MANAGER FUNCTIONS APPENDIXES B--65245EN/02 D.3 FUNCTION SELECTION AND TERMINATION D.3.1 Each power motion manager function can be selected by first pressing the Selection next--menu key (rightmost soft key) on the CNC system screen several times until [PMM] is displayed, then press
  • Page 244D. POWER MATE CNC B--65245EN/02 APPENDIXES MANAGER FUNCTIONS D.3.4 Once the data necessary for a connected servo amplifier unit has been set Disabling the Power up or confirmed, it is possible to discontinue communication with the power mate CNC manager (PMM) to give priority to those commands Mate
  • Page 245D. POWER MATE CNC MANAGER FUNCTIONS APPENDIXES B--65245EN/02 D.4 FUNCTION OVERVIEW D.4.1 This manual focuses on the soft keys designed for use on the 9--inch CRT. Soft Key Status For operation with the 14--inch CRT, follow the descriptions for the 9--inch CRT while referring to the status transition
  • Page 246D. POWER MATE CNC B--65245EN/02 APPENDIXES MANAGER FUNCTIONS (2) Status transition diagram for the soft keys designed for use on the 14--inch CRT CNC SYSTEM 1 < POS SYSTEM MSG > 4 2 3 D.5.6 2 1 < WORK MACHIN > 4 D.5.4 D.5.5 3 1 < PARAM DGNOS SYSTEM (OPRT) > 4 D.5.2 D.5.3 D.5.1 PARAM DGNOS 6 5 4 1 <
  • Page 247D. POWER MATE CNC MANAGER FUNCTIONS APPENDIXES B--65245EN/02 If a four--slave display is on the screen, pressing the [ZOOM] soft key, which is displayed by pressing the next--menu key several times, causes switching to single--slave display for the active slave. If a single--slave display is on the
  • Page 248D. POWER MATE CNC B--65245EN/02 APPENDIXES MANAGER FUNCTIONS (3) Guidance messages The following table lists the guidance messages that appear on the message line when soft keys are displayed. See Section D.4.1 for details of soft keys 1 to 8. If, however, an alarm occurs in the power mate CNC manag
  • Page 249D. POWER MATE CNC MANAGER FUNCTIONS APPENDIXES B--65245EN/02 D.5 FUNCTION DETAILS D.5.1 The system configuration screen displays system software information System Configuration about the servo amplifier units. This screen is the first screen that appears when a power mate CNC manager function is se
  • Page 250D. POWER MATE CNC B--65245EN/02 APPENDIXES MANAGER FUNCTIONS D.5.2 The parameters required for each function of the servo amplifier unit must Parameters be set up in advance. (1) Display operations Pressing the [SYSTEM] function selection soft key displays the following soft key menu: [ PARAM ] [ DG
  • Page 251D. POWER MATE CNC MANAGER FUNCTIONS APPENDIXES B--65245EN/02 1. Select an active slave. 2. Press the [(OPRT)] soft key to display: [NO.SRC] [ ] [ ] [ ] [INPUT] Press the next--menu key. [ ] [ READ ] [PUNCH] [ ] [ ] 3. Press the [READ] soft key to display: [ ] [ ] [ ] [CANCEL] [ EXEC ] Press the [EXE
  • Page 252D. POWER MATE CNC B--65245EN/02 APPENDIXES MANAGER FUNCTIONS (6) Setting parameters Parameters for servo amplifier units can be set directly from the CNC by means of the following procedure. 1. Select an active slave. 2. Press the [(OPRT)] soft key to display: [NO.SRC] [ ] [ ] [ ] [INPUT] 3. Positio
  • Page 253D. POWER MATE CNC MANAGER FUNCTIONS APPENDIXES B--65245EN/02 D.5.5 The current position can be displayed using a machine coordinate system. Machine Coordinates (1) Display operations Pressing the [POS] function selection soft key displays the following soft key menu: [ WORK ] [ ] [MACHIN] [ ] [ ] Pr
  • Page 254D. POWER MATE CNC B--65245EN/02 APPENDIXES MANAGER FUNCTIONS D.6 If an alarm occurs in the power mate CNC manager, the alarm number and message are displayed on the message line. ALARM DISPLAY ON THE POWER MATE CNC MANAGER Number Message Contents 003 PROGRAM NOT REGISTERED An attempt was made to pun
  • Page 255E. SERVO CHECK BOARD APPENDIXES B--65245EN/02 E SERVO CHECK BOARD (1) Overview The servo check board converts digital values, used in digital servo control, to an analog voltage so that they can be observed on an oscilloscope. (2) Servo check board ordering information Ordering code Name A06B--6057-
  • Page 256B--65245EN/02 APPENDIXES E. SERVO CHECK BOARD (5) VCMD signal The VCMD signal is used to output a velocity command. This signal can also be used to measure the minute vibrations of the motor and any uneven feed. Before observing this signal, check that bit 0 of parameter No. 14 is 0. The amplitude o
  • Page 257E. SERVO CHECK BOARD APPENDIXES B--65245EN/02 (6) TCMD signal The TCMD signal is used to output a motor torque command. When the motor is rotating at high speed, the current indicated by this signal may differ from the actual motor current (IR or IS) because of the back electromotive force in the mo
  • Page 258B--65245EN/02 APPENDIXES E. SERVO CHECK BOARD (8) IR signal The IR signal is used to output the R--phase actual current of the motor. Before observing the signal, check that bit 0 of parameter No. 14 is 1. Maximum Maximum--current Applicable servo motor current signal output 12Ap 4V ϒ 0.5/3000, ϒ 1/
  • Page 259B--65245EN/02 Index Direct Command Execution Result, 109 ≪A≫ Direct Command Format, 105 Absolute Coordinate, 231 Direct Command Function Code and Related Information, 57 Acceleration/Deceleration Control Parameters, 187 Direct Command Interface, 32, 37 Acceleration/Deceleration Delay Amount (Servo A
  • Page 260INDEX B--65245E/02 Maintenance of Servo Motor, 167 Reset and Emergency Stop, 42 Memory Registration Procedure, 131 Response Command Control (EOREND, EOSTB, EOPC, USR1, and ECONT), 108 Mode Selection, 44 Response Data Check Signals DSP1, DSP2, 101 Response Data Read Completion Signal ABSRD, 101 Respo
  • Page 261B--65245EN/02 INDEX Upgrading of the Response Data Read Function, 100 Upgrading of the Rotation Axis Control Function, 97 i-- 3
  • Page 262Revision Record FANUC SERVO MOTOR ϒ series I/O Link Option MAINTENANCE MANUAL (B--65245EN) 02 Oct., ’99 Addition of descriptions of types 40A and 80A 01 Sep., ’97 Edition Date Contents Edition Date Contents
  • Page 263· No part of this manual may be reproduced in any form. · All specifications and designs are subject to change without notice.
  • Page 264FANUC SERVO MOTOR β series I/O Link Option Add function in edition 09 1. Type of applied documents FANUC AC SERVO MOTOR β series I/O Link Option Name MAINTENANCE MANUAL Spec. No./Ver. B-65245EN/02 2. Summary of Change Group New, Add Applicable Name / Outline Correct, Del Date Basic Function Add func
  • Page 265The following functions have been added in FANUC SERVO MOTOR BETA series I/O Link Option. All of the functions are applied to edition 09 or later. Contents 1. PARAMETER SETTING OF RAPID TRAVERSE OVERRIDE FEEDRATE............................ 3 1.1. OUTLINE ............................................
  • Page 2661. Parameter setting of rapid traverse override feedrate 1.1. Outline The specifications for the rapid traverse override 100% and F0 is the same as before. In the new specifications, the feedrate of the rapid traverse override 50% and 25% can be specified by the parameter. 1.2. Parameter No #7 #6 #5
  • Page 267No 066 F1 rate for rapid traverse override Size : 2 bytes Unit : 10N user-specified units/MIN Range : 1 to 65535 (7500 user-specified units/MIN or greater) Standard value : 10 Description : Specifies the F1 rate for rapid traverse override. (N is specified in parameter No.21.) NOTE This parameter is
  • Page 2682. In-position check in cutting feed 2.1. Outline In the conventional specifications, the in-position check is only valid in rapid traverse. In the new specifications, it is valid in cutting feed too. The in-position check in cutting feed is only executed in absolute positioning command or increment
  • Page 269        #7 #6 #5 #4 #3 #2 #1 #0 Yy+4 Control flag 1 Yy+5 0 1 1 0 0 0 1 0 0x62 Yy+6 0 0 0 0 NMOD 0 0 1 Yy+7 0 RPD SMZX 0 0 0 0 1 Yy+8 FEED RATE Yy+9 FEED RATE Yy+10 DISTANCE Yy+11 DISTANCE Yy+12 DISTANCE Yy+13 DISTANCE In case that the parameter “CIPC” and “CSMZ” is set to “1”,
  • Page 270NOTE In case of the reference position return (function code:0x60), the condition is the same as above (2). But it is necessary to check the following condition in addition to the above condition. Reference position return completion signal ZPX(Xx+2#0)=1 2.3.Parameter No #7 #6 #5 #4 #3 #2 #1 #0 002
  • Page 2713. Extension of the command multiplier setting range 3.1. Outline In conventional specifications, the maximum value of Command Multiplier (CMR) is 48 (setting value is 96). The setting range of the CMR is extended up to 200 (setting value is 400). 3.2. Parameter No #7 #6 #5 #4 #3 #2 #1 #0 010 ECMR S
  • Page 2724.Extension of the range of number of pulses per revolution 4.1. Outline In conventional specifications, the number of pulses per revolution can be set 32,767/1 at maximum. The range of the number of pulses per revolution is extended up to 8,388,607/1. 4.2. Parameter No 179 Numerator for the number
  • Page 2735. Actual position read function 5.1. Outline In reading the position (absolute position and machine position) of the servo amplifier unit from the host , the actual position of the motor with taking the acceleration/deceleration delay amount , the servo position deviation amount, and so on into con
  • Page 2746. Reference position establishing signal 6.1. Outline The status whether the reference position is established or not is informed to the host by the signal. This function can be used both in the peripheral equipment control interface and the direct command interface. 6.2. Signal #7 #6 #5 #4 #3 #2 #
  • Page 2757. Improvement of turret and magazine number, point number output 7.1. Outline In conventional specifications of the ATC/Turret control (function code 02) and the point positioning control (function code 03) in the peripheral equipment control, when ATC number or point number is selected by the para
  • Page 276Related parameter No 020 Response data specifications (PHOUT) Size : 1 byte Standard value : 3 PHOUT Specifies what to output as response data (Xx+3 to Xx+6), as follows: 0 : Nothing is output. 1 : An ATC and point No. are output if an ATC cycle and point positioning are performed. 2 : The machine c
  • Page 277FANUC SERVO MOTOR β series I/O Link Option Skip Function 1. Type of applied technical documents Name FANUC SERVO MOTOR β series I/O Link Option MAINTENANCE MANUAL Spec. B-65245EN/02 No./Version 2. Summary of Change New, Add Applicable Group Name / Outline Correct, Date Delete Skip Function Add 2002/
  • Page 278Please add the following description after the explanation 15 about “*DEC” in the subsection 2.2 SIGNALS (LISTED IN GROUPS) of II HANDLING 2. SIGNAL DESCRIPTION. Group Signal name Symbol Address Reference 15 Skip signal HDI Direct input 2.3.15 Please replace “the table of Response data check signals
  • Page 279Please add the following between “7. Velocity control” and “10. Coordinate system setting” in the subsection 3.3.1 Function Codes of II HANDLING 3. PERIPHERAL EQUIPMENT CONTROL. Command Command data 1 Start Function code data 2 Mode Remarks 4Bit signal 4Byte Bit3 Bit0 to 2(Binary) Workpiece 0 Absolu
  • Page 280Please add the following between “4.3. Status read (2) Reading machine position” and “4.3. Status read (3) Reading the servo delay” in the subsection 4.3 DIRECT COMMANDS of II HANDLING 4. DIRECT COMMANDS. And change the item number “(3) to (9)” to “(4) to (10)”. Subsection Function Function to be co
  • Page 281Please replace the instruction command format in the subsection 4.4.4 Axis Movement Commands (2) Absolute positioning of II HANDLING 4. DIRECT COMMANDS with the following. (The explanation and “SKIP” are added.) #7 #6 #5 #4 #3 #2 #1 #0 Yy+4 Control flag 1 Yy+5 0 1 0 1 0 0 0 1 (0x61) Yy+6 0 0 0 0 NMO
  • Page 282Please replace the instruction command format in the subsection 4.4.4 Axis Movement Commands (3) Incremental positioning of II HANDLING 4. DIRECT COMMANDS with the following. (The explanation and “SKIP” are added.) #7 #6 #5 #4 #3 #2 #1 #0 Yy+4 Control flag 1 Yy+5 0 1 0 1 0 0 0 1 (0x62) Yy+6 0 0 0 0
  • Page 283Please add the following between the description of the parameter No.5 and No.20 in the B.5 INPUT/OUTPUT SIGNALS PARAMETERS of APPENDIXES B. PARAMETERS. No #7 #6 #5 #4 #3 #2 #1 #0 017 HEDG HENB Size : 1 byte (bit type) Standard value :0 HENB : Skip function is 0 : not used. 1 : used. HEDG : In case
  • Page 284Please replace the description of the parameter No.20 in the B.5 INPUT/OUTPUT SIGNALS PARAMETERS of APPENDIXES B. PARAMETERS with the following. No 020 Response data specification (PHOUT) Size : 1 byte Standard value : 3 PHOUT : Specifies whether or what to outputs as response data (Xx+3 to Xx6), as
  • Page 285TECHNICAL REPORT (MANUAL) No. TMS02/024E Date: 4-Sep-2002 General Manager of Servo Laboratory Addition of standard parameters for αi and βM servo motors to β series amplifier I/O link option 1. Distribute this report to the destinations marked with O : Your information O GE Fanuc-N, GE Fanuc-E Fanuc
  • Page 286Addition of standard parameters for αi and βM servo motors to β series amplifier I/O link option 1. Type of applied documents Name FANUC SERVO MOTOR β series I/O Link Option Maintenance Manual Spec. No./Ver. B-65245EN/02 2. Summary of Change Group Name / Outline New, Add Applicable Correct, Del Date
  • Page 287Standard parameters for αi and βM motors have been added. 1. Abstract Standard parameter loading for αi and βM motors has been applied to control software 88A1 series and 88A3 series. We are going to inform the addition and the modification in maintenance manual. 2. Software edition 88A1 series : ed
  • Page 288(1) APPENDIX B.6 SERVO PARAMETERS No 030 Motor type Size : 1 byte Valid data range : 0 to 126 This paremeter enables the host to specify the type number of a motor to be used. The following table lists the motor types of motors that can be used with β series amplifier and the related amplifier. In c
  • Page 289(2) APPENDIX B.6 SERVO PARAMETERS No 125 Extended motor type Size : 2 byte Date range : 1 to 250 In case of using the listed αi and βM motor’s standard parameter, its number of motor type has to be set in “Extended motor type” (No.125). Please set 0 in “Motor type” (No.030) in order to use “Extended
  • Page 290(3) APPENDIX B.7 DIGITAL SERVO STANDARD PARAMETER th 17 July 2002 αC3/ αC6/ αC12/ αC22/ β0.5/ α3/ α6/ α6/ Motor model 2000 2000 2000 1500 3000 3000 2000 3000 Motor ordering 0121 0126 0141 0145 0113 0123 0127 0128 code Symbol Motor type 7 8 9 10 13 15 16 17 Parameter No. PK1 70 1600 1800 3000 2330 22
  • Page 291Motor β 6/ β 1/ β 2/ α2/ αL6 αL9/ α1/ α2/ αM2 αM2.5 model 2000 3000 3000 2000 /3000 3000 3000 3000 Motor ordering 0034 0031 0032 0372 0562 0564 0371 0373 0376 0377 code Symbol Motor type 34 35 36 46 57 58 61 62 98 99 Parameter No. PK1 70 990 359 704 1170 1360 850 390 530 600 400 PK2 71 -3544 -1129 -
  • Page 292Motor αM8/ αM12/ αC12/ α12/ αC22/ α22/ αC30/ βM0.5 βM1 model 4000i 4000i 2000i 3000i 2000i 3000i 1500i Motor ordering 0115 0116 0235 0238 0241 0243 0246 0247 0251 code Symbol Motor type 181 182 185 188 191 193 196 197 201 Parameter No. PK1 70 141 398 544 657 3809 1072 1755 1458 2644 PK2 71 -511 -113
  • Page 293TECHNICAL REPORT (MANUAL) No. TMS03/030E Date: 8-Sep-2003 General Manager of Servo Laboratory FANUC SERVO MOTOR β series I/O Link Option Notice of the update of Control Software 88A1 series 1. Distribute this report to the destinations marked with Your information GE Fanuc-N, GE Fanuc-E Fanuc Roboti
  • Page 294Notice of the update of Control Software 88A1 series 1. Type of applied documents Name FANUC SERVO MOTOR β series I/O Link Option Maintenance manual Spec. No./Ver. B-65245EN/02-005 2. Summary of Change Group Name / Outline New, Add Applicable Correct, Del Date Basic Function Standard parameters of β
  • Page 295Notice of the update of Control Software 88A1 series We report the update of Control Software 88A1 series. 1. Update Edition ROM series Old edition New edition Available CNC 88A1 14 15 FANUC servo amplifier unit β series I/O link option 2. Contents of change Standard parameters of βis motors have be
  • Page 296(1) APPENDIX B.6 SERVO PARAMETERS No 125 Extended motor type Size：2 byte Date range：1 to 250 In case of using the listed αi and βis motor’s standard parameter, its number of motor type has to be set in “Extended motor type” (No125). Please set 0 in “Motor type” (No030) in order to use “Extended moto
  • Page 297Notice) [ Extended Motor Type : Applied series / edition ] 88A1 series / 13 or later [ βis Motor Type : Applied series / edition ] 88A1 series / 15 or later *) Motor types of β0.5/5000is and β1/5000is are available on the software that can use Extended Motor Type. TITLE Notice of the update of Contr
  • Page 298(2) APPENDIX B.7 DIGITAL SERVO STANDARD PARAMETER TABLE Aug. 2003 Motor model αC3/2000 αC6/2000 αC12/2000 αC22/1500 β0.5/3 α3/3000 α6/2000 α6/3000 Motor spec. 0121 0126 0141 0145 0113 0123 0127 0128 Symbol Motor type 7 8 9 10 13 15 16 17 Parameter PK1 70 1600 1800 3000 2330 220 1183 2054 754 PK2 71
  • Page 299Motor model β6/2000 β1/3000 β2/3000 α2/2000 αL6/3000 αL9/3000 α1/3000 α2/3000 Motor spec. 0034 0031 0032 0372 0562 0564 0371 0373 Symbol Motor type 34 35 36 46 57 58 61 62 Parameter PK1 70 990 359 704 1170 1360 850 390 530 PK2 71 -3544 -1129 -2401 -2289 -4000 -2300 -1053 -1653 PK3 72 -2632 -2564 -25
  • Page 300α1 β2 α2 β4 β8 β0.2 β0.3 α2 Motor model 5000i 4000is 5000i 4000is 3000is 5000is 5000is 5000is Motor spec. 0202 0061 0205 0063 0075 0111 0112 0212 Symbol Motor type 152 153 155 156 158 160 161 162 Parameter PK1 70 672 280 680 288 450 154 316 600 PK2 71 -2294 -1080 -2247 -960 -1840 -373 -860 -1900 PK3
  • Page 301β1 α8 α12 αC12 α12 αC22 α22 αC30 Motor model 5000is 4000is 4000is 2000i 3000i 2000i 3000i 1500i Motor spec. 0116 0235 0238 0241 0243 0246 0247 0251 Symbol Motor type 182 185 188 191 193 196 197 201 Parameter PK1 70 398 544 657 3809 1072 1755 1458 2644 PK2 71 -1137 -2352 -2522 -8197 -3835 -6536 -5416
  • Page 302TECHNICAL REPORT (MANUAL) No. TMS03/038E Date 2003.10.29 General Manager of Software Laboratory FANUC SERVO MOTOR β series I/O Link Option Adding of the diagnosis information (DGN No.35) for the direct input signals. １．Communicate this report to : ○ Your information ○ GE Fanuc-N, GE Fanuc-E FANUC Ro
  • Page 303FANUC SERVO MOTOR β series I/O Link Option Adding of the diagnosis information (DGN No.35) for the direct input signals. 1. Type of applied technical documents Name FANUC SERVO MOTOR β series I/O Link Option MAINTENANCE MANUAL Spec. B-65245EN/02 No./Version 2. Summary of Change New,Add Applicable Gr
  • Page 304Please add the following description after the explanation “C.5. Function Enable/Disable” in the “APPENDIX C. DIAGNOSIS LIST” C.6 DIRECT INPUT SIGNALS STATUS (SERVO AMPLIFIER UNIT) (DGN No) 7 6 5 4 3 2 1 0 *RILK/ 035 *-OT *+OT HDI *DEC *ESP (Note) *ESP :Status of Emergency stop signal *RILK/*DEC : S
  • Page 305FANUC SERVO MOTOR β series I/O Link Option Improvement of Skip function and CAUTION for the parameters No.068, 141 1. Type of applied technical documents Name FANUC SERVO MOTOR β series I/O Link Option MAINTENANCE MANUAL Spec. No./Version B-65245EN/02 ２．Summary of Change New,Add Applicable Group Nam
  • Page 306Please add the following description after the explanation 15 about “*DEC” in the subsection 2.2 SIGNALS (LISTED IN GROUPS) of II HANDLING 2. SIGNAL DESCRIPTION. Group Signal name Symbol Address Referenc e 15 Skip signal ＨＤＩ Direct input 2.3.15 Please replace “the table of Response data check signal
  • Page 307Please add the following description after the explanation about *DEC in the subsection 2.3.15 Direct Input Signals (4) Deceleration signal for reference return of II HANDLING 2. SIGNAL DESCRIPTION. (5) Skip signal HDI(JA35(15)) [Classification] Servo amplifier unit direct input signal [Function] Th
  • Page 308Please add the following between “7. Velocity control” and “10. Coordinate system setting” in the subsection 3.3.1 Function Codes of II HANDLING 3.PERIPHERAL EQUIPMENT CONTROL. ・ Function code Command data 1 Command Mode Start Remarks 4Bit data 2 signal 4Byte 8 :Positioning Bit3 Bit0 to 2(Binary) Wo
  • Page 309Please add the following between “4.3. Status read (2) Reading machine position” and “4.3. Status read (3) Reading the servo delay” in the subsection 4.3 DIRECT COMMANDS of II HANDLING 4. DIRECT COMMANDS. And change the item number “(3) to (9)” to “(4) to (10)”. Function Function Subsection to code
  • Page 310Please add the following between “4.4.3. Status read (2) Reading the machine position” and “4.4.3. Status read (3) Reading the servo delay” in the subsection 4.4 DETAIL OF DIRECT COMMANDS FUNCTIONS of II HANDLING 4. DIRECT COMMANDS. And change the item number “(3) to (9)” to “(4) to (10)”. (3) Readi
  • Page 311Please replace the instruction command format in the subsection 4.4.4 Axis Movement Commands (2) Absolute positioning of II HANDLING 4. DIRECT COMMANDS with the following. (The explanation and “SKIP” are added.) #7 #6 #5 #4 #3 #2 #1 #0 Yy+4 Control flag 1 Yy+5 0 1 1 0 0 0 0 1 (0x61) Yy+6 0 0 0 0 NMO
  • Page 312Please replace the instruction command format in the subsection 4.4.4 Axis Movement Commands (3) Incremental positioning of II HANDLING 4. DIRECT COMMANDS with the following. (The explanation and “SKIP” are added.) #7 #6 #5 #4 #3 #2 #1 #0 Yy+4 Control flag 1 Yy+5 0 1 1 0 0 0 1 0 (0x62) Yy+6 0 0 0 0
  • Page 313Please add the following between the description of the parameter No.5 and No.20 in the B.5 INPUT/OUTPUT SIGNALS PARAMETERS of APPENDIXES B. PARAMETERS. No #7 #6 #5 #4 #3 #2 #1 #0 017 SPCO HEDG HENB Size : 1 byte (bit type) Standard value :0 HENB : Skip function is 0 : not used. 1 : used. HEDG : In
  • Page 314Please replace the description of the parameter No.20 in the B.5 INPUT/OUTPUT SIGNALS PARAMETERS of APPENDIXES B. PARAMETERS with the following. No 020 Response data specification (PHOUT) Size : 1 byte Standard value :3 PHOUT : Specifies whether or what to outputs as response data (Xx+3 to Xx6), as
  • Page 315Please add the following “CAUTION” to the description of the parameters No.068 and No.141 in the “B.2 COORDINATE SYSTEM AND STROKE LIMIT PARAMETERS” of APPENDIXES B. PARAMETERS. (Add the “CAUTION 2” to No.141.) No 068 Number of magazines/turrets Size ：2-bytes Range ：1 to 9999 Standard value ：0 Descr
  • Page 316FANUC SERVO MOTOR β series I/O Link Option NOTICE OF FEEDRATE PARAMETERS １．Type of applied technical documents Name FANUC SERVO MOTOR β series I/O Link Option MAINTENANCE MANUAL Spec. B-65245EN/02 No./Version ２．Summary of Change New, Add Applicable Group Name/Outline Correct, Date Delete Basic A not
  • Page 317Add the following NOTE to the parameters No.040, No.043, No.054, No.061, No.066, and No.067 of "B.3 FEEDRATE PARAMETERS" and the parameter No.059 and No.060 of "B.4 ACCELERATION/DECELERATION CONTROL PARAMETERS". NOTE 1 The maximum of the setting range is shown in the following table according to the