New Design of Digital Servo Software 9096 Series Additional Manual Page 5
Additional Manual
4/8
Descri
p
tion
Design.
DateEd
01.05.08
SHEET
DRAW. No.
CUST.
TITLE
Ihara
Newly designed
Notice of the new desig
n
of
Digital Servo Software 9096
series
A
-62449E-085
FANUC LTD
[Table 1-1] Parameter table for HRV1 control (1)
M
otor
M
o
d
e
l
α1
5000i
α2
5000i
αM2
5000i
αM3
5000i
αC4
3000i
α4
4000i
αC8
2000i
α8
3000i
αM8
4000i
αM12
4000i
αC12
2000i
M
o
t
or s
p
ec
ifi
ca
ti
on 0202 0205 0212 0215 0221 0223 0226 0227 0235 0238 0241
M
otor t
yp
e
N
o. 152 155 162 165 171 173 176 177 185 188 191
2001.04.01
Symbol Parameter No.
FS15 FS16
1808 2003
00001000
00001000
00001000
00001000
00001000
00001000
00001000
00001000
00001000
00001000
00001000
1809 2004
00000110
00000110
00000110
00000110
00000110
00000110
00000110
00000110
00000110
00000110
00000110
1883 2005
00000000
00000000
00000000
00000000
00000000
00000000
00000000
00000000
00000000
00000000
00000000
1884 2006
00000000
00000000
00000000
00000000
00000000
00000000
00000000
00000000
00000000
00000000
00000000
1954 2010
00000000
00000000
00000000
00000000
00000000
00000000
00000000
00000000
00000000
00000000
00000000
1955 2011
00000000
00100000
00000000
00100000
00000000
00100000
00000000
00000000
00000000
00000000
00100000
1956 2012
00000000
00000000
00000000
00000000
00000000
00000000
00000000
00000000
00000000
00000000
00000000
1751 2211
00000010
00000010
00000010
00000010
00001000
00000010
00001010
00001010
00001010
00001010
00000010
PK1 1852 2040
672
680
600
400
926
659
1096
712
544
657
3809
PK2 1853 2041 -
2294
-
2247
-
1900
-
1154
-
4063
-
2463
-
4638
-
3187
-
2352
-
2522
-
8197
PK3 1854 2042 -
2514
-
2568
-
2504
-
2553
-
2619
-
2623
-
2651
-
2651
-
2616
-
2639
-
2679
PK1V 1855 2043
66
76
39
64
115
106
150
113
33
52
280
PK2V 1856 2044 -
594
-
680
-
350
-
574
-
1034
-
953
-
1342
-
1009
-
294
-
466
-
2504
PK3V 1857 2045
0
0
0
0
0
0
0
0
0
0
0
PK4V 1858 2046 -
8235
-
8235
-
8235
-
8235
-
8235
-
8235
-
8235
-
8235
-
8235
-
8235
-
8235
POA1 1859 2047
6384
5578
10853
6614
3670
3980
2827
3760
-
1289
-
815
1516
BLCMP 1860 2048
0
0
0
0
0
0
0
0
0
0
0
DPFMX 1861 2049
0
0
0
0
0
0
0
0
0
0
0
POK1 1862 2050
956
956
956
956
956
956
956
956
956
956
956
POK2 1863 2051
510
510
510
510
510
510
510
510
510
510
510
RESERV 1864 2052
0
0
0
0
0
0
0
0
0
0
0
PPMAX 1865 2053
21
21
21
21
21
21
21
21
21
21
21
PDDP 1866 2054
1894
1894
1894
1894
1894
1894
1894
1894
1894
1894
1894
PHYST 1867 2055
319
319
319
319
319
319
319
319
319
319
319
EMFCMP 1868 2056
0
-
20485
0
0
0
0
0
0
0
0
0
PVPA 1869 2057
0
-
10256
-
10250
-
10262
-
5915
-
11789
-
3854
-
6418
-
7691
-
5904
-
1804
PALPH 1870 2058
0
-
3300
-
2000
-
3500
-
1500
-
180
-
1236
-
3000
-
2000
-
2400
-
2500
PPBAS 1871 2059
0
0
0
0
0
0
0
0
0
0
0
TQLIM 1872 2060
7282
7282
7282
7282
7282
8010
7282
8010
7282
7282
7282
EMFLMT 1873 2061
0
0
0
0
0
0
0
0
0
0
0
POVC1 1877 2062
32613
32497
32528
32315
32406
32446
32289
32383
32609
32534
32289
POVC2 1878 2063
1933
3390
3005
5660
4529
4029
5994
4807
1993
2923
5994
TGALMLV 1892 2064
4
4
4
4
4
4
4
4
4
4
4
POVCLMT 1893 2065
5739
10085
8936
16888
13493
11998
17889
14327
5920
8692
17889
PK2VAUX 1894 2066
0
0
0
0
0
0
0
0
0
0
0
FILTER 1895 2067
0
0
0
0
0
0
0
0
0
0
0
FALPH 1961 2068
0
0
0
0
0
0
0
0
0
0
0
VFFLT 1962 2069
0
0
0
0
0
0
0
0
0
0
0
ERBLM 1963 2070
0
0
0
0
0
0
0
0
0
0
0
PBLCT 1964 2071
0
0
0
0
0
0
0
0
0
0
0
SFCCML 1965 2072
0
0
0
0
0
0
0
0
0
0
0
PSPTL 1966 2073
0
0
0
0
0
0
0
0
0
0
0
AALPH 1967 2074
0
4096
8192
0
12288
8192
8192
12288
8192
4096
8192
MODEL 1968 2075
0
0
0
0
0
0
0
0
0
0
0
WKAC 1969 2076
0
0
0
0
0
0
0
0
0
0
0
OSCTPL 1970 2077
0
0
0
0
0
0
0
0
0
0
0
PDPCH 1971 2078
0
0
0
0
0
0
0
0
0
0
0
PDPCL 1972 2079
0
0
0
0
0
0
0
0
0
0
0
DPFEX 1973 2080
0
0
0
0
0
0
0
0
0
0
0
DPFZW 1974 2081
0
0
0
0
0
0
0
0
0
0
0
BLENDL 1975 2082
0
0
0
0
0
0
0
0
0
0
0
MOFCTL 1976 2083
0
0
0
0
0
0
0
0
0
0
0
SDMR1 1977 2084
0
0
0
0
0
0
0
0
0
0
0
SDMR2 1978 2085
0
0
0
0
0
0
0
0
0
0
0
RTCURR 1979 2086
1234
1636
1540
2117
1892
1784
2593
1950
1253
1518
3020
TDPLD 1980 2087
0
0
0
0
0
0
0
0
0
0
0
MCNFB 1981 2088
0
0
0
0
0
0
0
0
0
0
0
BLBSL 1982 2089
0
0
0
0
0
0
0
0
0
0
0
ROBSTL 1983 2090
0
0
0
0
0
0
0
0
0
0
0
ACCSPL 1984 2091
0
0
0
0
0
0
0
0
0
0
0
ADFF1 1985 2092
0
0
0
0
0
0
0
0
0
0
0
VMPK3V 1986 2093
0
0
0
0
0
0
0
0
0
0
0
BLCMP2 1987 2094
0
0
0
0
0
0
0
0
0
0
0
AHDRTL 1988 2095
0
0
0
0
0
0
0
0
0
0
0
RADUSL 1989 2096
0
0
0
0
0
0
0
0
0
0
0
SMCNT 1990 2097
0
0
0
0
0
0
0
0
0
0
0
DEPVPL 1991 2098
0
0
0
0
0
0
0
0
0
0
0
ONEPSL 1992 2099
400
400
400
400
400
400
400
400
400
400
400
INPA1 1993 2100
0
0
0
0
0
0
0
0
0
0
0
INPA2 1994 2101
0
0
0
0
0
0
0
0
0
0
0
DBLIM 1995 2102
0
12000
0
0
0
15000
0
0
0
0
15000
ABVOF 1996 2103
0
0
0
0
0
0
0
0
0
0
0
ABTSH 1997 2104
0
0
0
0
0
0
0
0
0
0
0
TRQCST 1998 2105
72
109
117
127
190
201
277
369
562
696
350
LP24PA 1999 2106
0
0
0
0
0
0
0
0
0
0
0
VLGOVR 1700 2107
0
0
0
0
0
0
0
0
0
0
0
RESERV 1701 2108
0
0
0
0
0
0
0
0
0
0
0
BELLTC 1702 2109
0
0
0
0
0
0
0
0
0
0
0
MGSTCM 1703 2110
32
32
40
24
1289
32
1552
786
519
521
0
DETQLM 1704 2111
7710
6460
7745
10310
3900
5130
3880
5180
7780
5170
2168
AMRDML 1705 2112
0
0
0
0
0
0
0
0
0
0
0
NFILT 1706 2113
0
0
0
0
0
0
0
0
0
0
0
NINTCT 1735 2127
1188
1276
1137
646
2544
1443
2380
2103
2106
1592
4150
MFWKCE 1736 2128
570
855
1000
2500
5000
2000
4500
1500
4000
3000
12000
MFWKBL 1752 2129
3211
3211
3851
3847
1812
3338
1550
1815
2580
2570
1044
LP2GP 1753 2130
0
0
0
0
0
0
0
0
0
0
0
LP4GP 1754 2131
0
0
0
0
0
0
0
0
0
0
0
LP6GP 1755 2132
0
0
0
0
0
0
0
0
0
0
0
PHDLY1 1756 2133
2571
2565
2565
2563
3855
6670
3860
5140
5652
5135
5150
PHDLY2 1757 2134
12850
12850
12825
12820
5155
5140
5150
5145
5150
5160
5150
DGCSMM 1782 2159
0
0
0
0
0
0
0
0
0
0
0
TRQCUP 1783 2160
0
0
0
0
0
0
0
0
0
0
0
RESERV 1784 2161
0
0
0
0
0
0
0
0
0
0
0
POVC21 1785 2162
32767
32766
32766
32765
32766
32766
32763
32765
32767
32766
32761
POVC22 1786 2163
13
23
20
40
31
27
63
33
13
19
91
POVCLMT2
1787 2164
2425
4261
3776
7135
5701
5069
10709
6053
2501
3672
14518
MAXCRT 1788 2165
25
25
25
25
25
45
25
45
85
85
25
Contents Summary of New Design of Digital Servo Software 9096 Series Additional Manual
- Page 1TECHNICAL REPORT (MANUAL) No. TM 01/011 Date , 2001 General Manager of Servo Laboratory Notice of the new design of Digital Servo Software 9096/A(01) 1. Distribute this report to the destinations marked with Your information GE Fanuc-N, GE Fanuc-E Fanuc Robotics-NA, Fanuc Robotics-E CINCINNATI MILAC
- Page 2Notice of the new design of Digital Servo Software 9096 series 1. Type of applied documents Name FANUC AC SERVO MOTOR Alpha series Parameter manual Spec. No./Ver. A-62449E-085 2. Summary of Change Group Name / Outline New, Add Applicable Correct, Del Date Basic Function i 1. TUNE becomes available N
- Page 3Notice of the new design of Digital Servo Software 9096 series We report that Digital Servo Software 9096 series has been newly designed. Servo software 9096 series is necessary to use αi series with a system which uses servo card equipped with 320C52. When αi series is used with FS21i or PowerMate
- Page 4Attached 1. Parameter table for αi series servo motors Standard parameters for αi series servo motors are added to parameter table (See following Table 1-1 and Table 1-2) New motors are ： α1/5000i, α2/5000i, αM2/5000i, αM3/5000i, αC4/3000i, α4/4000i, αC8/2000i, α8/3000i, αM8/4000i, αM12/4000i, αC12/
- Page 5[Table 1-1] Parameter table for HRV1 control (1) Motor Model α1 α2 αM2 αM3 αC4 α4 αC8 α8 αM8 αM12 αC12 5000i 5000i 5000i 5000i 3000i 4000i 2000i 3000i 4000i 4000i 2000i Motor specification 0202 0205 0212 0215 0221 0223 0226 0227 0235 0238 0241 Motor type No. 152 155 162 165 171 173 176 177 185 188 1
- Page 6[Table 1-2] Parameter table for HRV1 control (2) Motor Model α12 αC22 α22 αC30 α30 α40 αM22 αM30 αM40 3000i 2000i 3000i 1500i 3000i 3000i 4000i 4000i 4000i Motor specification 0243 0246 0247 0251 0253 0257 0265 0268 0272 Motor type No. 193 196 197 201 203 207 215 218 222 2001.04.01 Symbol Parameter
- Page 7Attached 2. Parameter setting for ESP delay timer in αi series servo amplifier (1) Overview αi series servo amplifier has delay timer (50ms to 400ms) to emergency stop signal (ESP) inside. This delay timer makes it possible to use Brake contorol function without external timer. See FANUC AC SERVO MO
- Page 8NOTE In the case of two, or three axes amplifier, set same parameter value to all the axes. (4) Example of timing chart at brake contorol mode Alarm or emergency stop signal 50～100ms (approximately) Mechanical brake Servo amplifier MCC OFF Brake control timer: Should be longer (approximately 200ms)
- Page 9Attached 3. Parameter setting for Dummy serial feedback function. (1) Overview The specification of Dummy serial feedback function is changed as follows. (2) Series and editions of applicable servo software Series 9096/A(01) or later (Series 21i, PowerMate i) (3) Setting parameters Setting the follo