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Power Mate i-Model D/H Analog Servo Interface Unit Connection Material (B-63173EN/02-02) Supplement to Manual Page 29

Supplement to Manual
EDIT.
FANUC LTD
FANUC LTDFANUC LTD
FANUC LTD
SHEET
DRAW. NO.
CUST.
TITLE
DESCRIPTIONDESIG.DATE
B-63173EN/02-02
No. 1910 1911 1912 1913 1914 1915 1916 1917 1918 1919
６４５４８０ ３６４０
No. No.1023 No.1905 No.1936 No.1937
X
０００００００ ０ ０
Y
０００００００ ０
Z
３ ０００００００ ０
A
４ ０００００００ ３ ０
B
５ ００００００００ ０ ０
C
６
０００００００
*
００
D
７ ０００００００ ０ ０
*At the digital servo axis which No.1023 is even number, the interface type
between servo amplifier and servo software is Slow type (Set
No.1905.B0=1). (Refer to the parameter manual of Power Mate i)
４）Initial setting of servo parameter
Set the following of analog servo axis.
Paramete
r
number
Description Data
No.2000 Automatic setting 00000000
No.2020 Motor type 50
No.2001 AMR 00000000
No.1820 CMR
No.2084 Ｆ・ＦＧ（Numerator）
No.2085 Ｆ・ＦＧ（Denominator）
Set the value similar to the one of digital
servo according to mechanical system.
No.2022 Rotation direction 111（CCW）or‐111（CW）
No.1821 Reference counter size Set the number (after FFG) of pulse per
one motor revolution as digital servo.
No.2023 Feedback pulse for
velocity detection
Set value＝５３６７９７×Ｅ
Ｅ：the voltage (V) proportional to the
1000rpm velocity command
No.2024 Feedback pulse for
position detection
Set the number (before FFG) of pulse per
one motor revolution as digital servo.
５）Power OFF/ON
６）Setting to validate the analog servo interface function
Set the following of analog servo axis.
No. 76543210
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Contents Summary of Power Mate i-Model D/H Analog Servo Interface Unit Connection Material (B-63173EN/02-02) Supplement to Manual

  • Page 1TECHNICAL REPORT (MANUAL) TMN99/009E Date 1999.. General Manager of Hardware Laboratory FANUC Power Mate i-MODEL D/ H Analog servo interface unit connection material Communicate this report to : ○ Your information ○ GE Fanuc-N, GE Fanuc-E FANUC Robotics CINCINNATI MILACRON ○ Machine tool builder Sal
  • Page 2FANUC Power Mate i-MODEL D/H CONNECTION MANUAL REVISION Type of applied technical documents Name FANUC Power Mate i-MODEL D/H CONNECTION MANUAL Spec.No./Version B-63173EN/02 Summary of change Group Name / Outline New, Add, Applicable Correct, Date Delete Basic Function Optional Function Unit Analog
  • Page 3Sec. 8.17 “the connection of analog servo interface unit” is added to the connection manual of FANUC Power Mate i-MODEL D/H B-63173EN/02. 17.1 Outline Analog servo interface unit of Power Mate i-MODEL D/H is for the connection to analog servo. Up to 8 axes analog servo amplifier can be connected to
  • Page 4extension unit Flat cable for analog servo interface A02B-0259-K850 unit Spare fuse A03B-0815-K001 24VDC 1.0A TITLE DRAW. NO. CUST. B-63173EN/02-02 SHEET EDIT. DATE DESIG. DESCRIPTION F FANUC LTD
  • Page 517.3 Structure Power Mate i -D/H FSSB line Analog voltage Analog Analog Servo 24VDC servo servo amp. moto Power interfac Feedback Pulse e encoder unit （basic ） GND1 Batter Analog servo Flat interfac Power cable e unit Analog Analog voltage Analog Servo servo servo amp. moto interfac e Feedback Pulse
  • Page 617.4 The connection of type F analog servo interface The ready signal and alarm signal from servo amplifier are 5VDC signals. 17.4.1 System structure 1) In case of using the built-in pulse coder Analog servo Analog interface unit servo J155 JV1nL amplifier JF10nL J156A／J156B Pulse TG servo encode mo
  • Page 7Analog servo interface unit Analog servo amplifier Connector JV1nL PCR- (PCR-EV20MDT) E20FS １ (A) 11 (B) or 2 (*A) 12 (*B) PCR- 3 *ENBL 13 OVL E20FA 4 0V 14 0V 5 (Z) 15 (ALM) ６ EC 16 0V J15 7 VCMD 17 (*SRDY) 8 0V 18 0V 9 (*Z) 19 (24VOUT) Ferrite core 10 *PRDY 20 *VRDY Note）The pin with ( ）mark must
  • Page 82) Cable J156A （Parallel interface） Cable J156A is for between analog servo interface unit (JF10nL) and pulse encoder and separate detector. Analog servo interface unit Pulse encoder or separate detector ＪＦ１０ｎL （ＰＣＲ－ＥＶ２０ＭＤＴ） １ Ａ １１ J 156A ２ ＊Ａ １２ ０Ｖ ３ Ｂ １３ ４ ＊Ｂ １４ ０Ｖ Connector ５ Ｚ １５ FI40-2015S Hous
  • Page 93) Cable J156B （Serial interface） Cable J156A is for between analog servo interface unit (JF10nL) and pulse encoder / separate detector. Analog servo interface unit Pulse encoder or separate detector ＪＦ１０ｎL （ＰＣＲ－ＥＶ２０ＭＤＴ） １ SD １１ J 156B ２ *SD １２ ０Ｖ ３ １３ ４ １４ ０Ｖ C on n e ct or ５ REQ １５ F I 4 0 -2 0 1
  • Page 104) Cable J37 Cable J37 is for between analog servo interface unit (JA4L) and the battery for separate detector. Analog servo interface unit（basic unit） Battery for separate detector ＪＡ４Ｌ （ＰＣＲ－ＥＶ２０ＭＤＴ） １ １１ （M3 t er m in a l ） ２ １２ J37 ＋ － ３ ０Ｖ １３ ＋６Ｖ ０Ｖ ４ １４ ５ １５ ６ １６ ７ ＋６Ｖ １７ Con n ector ８ １８ P CR-
  • Page 1117.4.3 Details of signals TITLE DRAW. NO. CUST. B-63173EN/02-02 SHEET EDIT. DATE DESIG. DESCRIPTION F FANUC LTD 09
  • Page 12TITLE DRAW. NO. CUST. B-63173EN/02-02 SHEET EDIT. DATE DESIG. DESCRIPTION F FANUC LTD 10
  • Page 13TITLE DRAW. NO. CUST. B-63173EN/02-02 SHEET EDIT. DATE DESIG. DESCRIPTION F FANUC LTD 11
  • Page 14TITLE DRAW. NO. CUST. B-63173EN/02-02 SHEET EDIT. DATE DESIG. DESCRIPTION F FANUC LTD 12
  • Page 1517.5 The connection of type M analog servo interface The ready signal and alarm signal from servo amplifier is 24VDC signal. 17.5.1 System structure 1) In case of using the built-in pulse coder Analog servo Analog interface unit J157 servo JV1nL amplifier Pulse Analog encoder servo 2) In case of usi
  • Page 16Analog servo interface unit Analog servo amplifier Connector JV1nL PCR- (PCR-EV20MDT) E20FS １ A 11 B or 2 *A 12 *B PCR- 3 （*ENBL） 13 （OVL） E20FA 4 （0V） 14 （0V） 5 Z 15 ALM ６ EC 16 0V J15 7 VCMD 17 *SRDY 8 （0V） 18 0V Ferrite core 9 *Z 19 24VOUT 10 *PRDY 20 （*VRDY） Note）The pin with ( ）mark must be ope
  • Page 174) Cable J158 Cable J158 is for analog servo interface unit (JV1nL) and analog servo amplifier. Analog servo interface unit Analog servo amplifier Connector JV1nL PCR- アナログサーボアンプ (PCR-EV20MDT) E20FS １ （PCA） 11 （PCB） or 2 （*PCA） 12 （*PCB） PCR- 3 （*ENBL） 13 （OVL） E20FA 4 （0V） 14 （0V） 5 （PCZ） 15 ALM ６
  • Page 18TITLE DRAW. NO. CUST. B-63173EN/02-02 SHEET EDIT. DATE DESIG. DESCRIPTION F FANUC LTD 15
  • Page 1917.5.3 Details of signals (1) VCMD, EC （Output） VCMD and EC are the speed command signals for the servo amplifier. Refer to 4.3 Details of signals (1) (2)A,*A,B,*B,Z,*Z （Input） These signals are received from the pulse coder. Refer to 4.3 Details of signal (7). (3)*PRDY （Output） *PRDY is the ready s
  • Page 2017.6 Power connections The power of analog servo interface unit must be supplied from external power supply 24VDC. Analog servo interface unit (basic) External power supply ＣＰ１１Ｌ DC24V±10％ １ ＋２４Ｖ （including an ２ ０Ｖ instantaneous value ３ and ripple） GND1 GND1 is signal ground of analog servo interfac
  • Page 2117.7 Select switch SW1 The input level of ready signal (input) and alarm signal (input) of type F analog servo interface are different from the input level of ready signal (input) and alarm signal (input) of type M analog servo interface. Type F or Type M is decided by select switch SW1. elect switc
  • Page 2217.9 Notice 1) Up to 2 axes are possible digital servo interface and analog servo interface in total. for Power Mate i-D. Up to 8 axes are possible digital servo interface and analog servo interface in total. for Power Mate i-H. 2) The group of the analog servo interface unit is one basic unit (2 ax
  • Page 23the parallel interface separate detector interface unit is used and the power is not supplied to it by an analog servo interface unit, it is necessary to turn on the power for it before when the power for an analog servo interface unit is turned on. Furthermore, in this situation, it is also necessa
  • Page 2417.10 Parameter setting ）In emergency stop condition, turn on the power of Power Mate i ）Follow the procedure below to set parameters concerned with FSSB. In the case of using an analog servo interface unit, the FSSB automatic setting function is not available. It is necessary to set the value of No
  • Page 25FMD The setting mode of FSSB is ０：Automatic. ：Manual setting 2. Notice In the case of using the analog servo interface unit, be sure to set 0 ③Setting of bit parameter No. 7 6 5 4 3 2 1 0 1905 PM2 PM1 FSL Data type : Bit FSL The interface type between servo amplifier and servo software is ０：Fast typ
  • Page 26④Setting Address Conversion Table for slave number No. 1910 The value of Address conversion Table for Slave 1 (ATR) 1911 The value of Address conversion Table for Slave 2 (ATR) 1912 The value of Address conversion Table for Slave 3 (ATR) 1913 The value of Address conversion Table for Slave 4 (ATR) 1
  • Page 27⑤ Setting connector number No. 1936 Connector number of 1st interface unit 1937 Connector number of 2nd interface unit Date type ：Byte Data range：０～３（in case of analog servo interface unit） ０～７（in case of separate type detector interface unit） In case of using interface unit, set the value, which su
  • Page 28［Example2：in case of one digital and one analog servo axis］ FSSB X axis Digital servo amplifier Slave 1 Power Mate FSSB i Analog servo interface JV11L Analog Y axis unit amplifier (Basic unit) Slave 3 Slave 2 Digital servo amplifier is slave 1 and analog servo interface unit is slave 2. Analog servo
  • Page 29No. 1910 1911 1912 1913 1914 1915 1916 1917 1918 1919 ６ ４ ５ ４８ ０ ３ ６ ４０ No. No.1023 No.1905 No.1936 No.1937 X ０００００００ ０ ０ Y ０００００００ ０ Z ３ ０００００００ ０ A ４ ０００００００ ３ ０ B ５ ００００００００ ０ ０ C ６ ０００００００* ０ ０ D ７ ０００００００ ０ ０ *At the digital servo axis which No.1023 is even number, the interface type between se
  • Page 302009 ANALOG SERDMY Data type：Bit SERDMY The serial feedback dummy function is ０：Invalidated ：Validated Notice In case of analog servo axis, set 1. ANALOG The analog servo interface function is ０：Invalidated. ：Validated. Notice In case of analog servo axis, set 1. No. 2165 Amplifier ID Data type：Byte
  • Page 31TECHNICAL REPORT (MANUAL) 009E Date 1999. . General Manager of Hardware Laboratory FANUC Power Mate i-MODEL D/ H Analog servo interface unit connection material Communicate this report to : Your information GE Fanuc-N, GE Fanuc-E FANUC Robotics CINCINNATI MILACRON Machine tool builder Sales agency E
  • Page 32FANUC Power Mate i-MODEL D/H CONNECTION MANUAL REVISION Type of applied technical documents Name FANUC Power Mate i-MODEL D/H CONNECTION MANUAL Spec.No./Version B-63173EN/02 Summary of change Group Name / Outline New, Add, Applicable Correct, Date Delete Basic Function Optional Function Unit Analog
  • Page 33Sec. 8.17 “the connection of analog servo interface unit” is added to the connection manual of FANUC Power Mate i-MODEL D/H B-63173EN/02. 2XWOLQH $QDORJVHUYRLQWHUIDFHXQLWRI3RZHU0DWHL02'(/'+LVIRUWKHFRQQHFWLRQWRDQDORJ VHUYR8SWRD[HVDQDORJVHUYRDPSOLILHUFDQEHFRQQHFWHGWR
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