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Linear Motor Series Descriptions Page 194

Descriptions
B-65222EN/03 START-UP 4.PARAMETER SETTING
- 173 -
4.1.2 Smooth Compensation for Linear Motor
(1) Overview
Smooth compensation for linear motors improves the smoothness in
feed of a linear motor by producing a sinusoidal compensation torque
with a cycle of 1/2, 1/4, or 1/6 of the pole-to-pole span produced by
servo software and by applying such a torque to the current command.
Compensation torque can be generated for each motor by setting gain
and phase for each components.
Torque command for correction
A
2
Sin (2
θ
+ P
2
)
+ A
4
Sin (4
θ
+ P
4
)
+ A
6
Sin (6
θ
+ P
6
)
Velocity loop
TCMD
+
Current loop
Activating phase angle
θ
Scale
Linear motor
+
(2) Series and editions of applicable servo software
Series 9096/A(01) and subsequent editions (Series 21i, Power Mate i)
Series 90B0/A(01) and subsequent editions (Series 15i, 16i, 18i, 21i )
(3) Setting parameters
1753 - Correction of two thrust ripples per magnetic pole pair
2130 - Correction gain (high-order 8 bits) Correction phase (low-order 8 bits)
1754 - Correction of four thrust ripples per magnetic pole pair
2131 - Correction gain (high-order 8 bits) Correction phase (low-order 8 bits)
1755 - Correction of six thrust ripples per magnetic pole pair
2132 - Correction gain (high-order 8 bits) Correction phase (low-order 8 bits)
The way thrust ripples occur varies from one motor (rather than
model) to another. Therefore, the correction parameters must be
determined specifically for each individual motor. This can be done
using "SD" (servo adjustment software) as a measurement tool.
The torque command ripples which occur at a specific position during
low-speed motor operation are assumed to be the ripples specific to
the motor at that position. A torque command having the same ripples
as these specific ripples is created to enable correction.
Follow the procedure described below to measure the activating phase
angle and torque command necessary to determine the correction
parameters.
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Contents Summary of Linear Motor Series Descriptions

  • Page 1GE Fanuc Automation Europe Computer Numerical Controls Linear Motors Description Manual B-65222EN/03 TECHNOLOGY AND MORE
  • Page 2
  • Page 3FOR USER Before getting started • Read this manual thoroughly before using FANUC LINEAR MOTOR. It contains many important items. • Do not try operation not described in this manual without permission. Otherwise, your motor may get into trouble. If it is unavoidable to operate your motor in a way not
  • Page 4B-65222EN/03 SAFETY PRECAUTIONS SAFETY PRECAUTIONS This "Safety Precautions" section describes the precautions which must be observed to ensure safety when using FANUC linear motors. Users of any linear motor model are requested to read this manual carefully before using the linear motor. The users
  • Page 5SAFETY PRECAUTIONS B-65222EN/03 1.1 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, supplementary information
  • Page 6B-65222EN/03 SAFETY PRECAUTIONS 1.2 WARNING WARNING - 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. - Any person having a medical apparatus must keep at least 30 cm away from any magn
  • Page 7SAFETY PRECAUTIONS B-65222EN/03 WARNING - When moving the motor, use a crane or another equipment. A motor is a heavy object. Use a crane or another equipment as required (for the weight of the motor, see this manual). When moving the motor, lift it using a fabric rope passed round the motor in bala
  • Page 8B-65222EN/03 SAFETY PRECAUTIONS WARNING - While the motor is running, do not get near or touch the motor driving section. While the motor is running, getting near or touching the motor driving section may entangle cloths or fingers with the motor or cause a collision with a movable part. Before runn
  • Page 9SAFETY PRECAUTIONS B-65222EN/03 1.3 CAUTION CAUTION - Keep electronic devices and magnetic media away from any magnet plate. Bring an electronic device such as a personal computer, camera, or cellular phone or magnetic media such as a magnetic card or disk near a magnet plate may cause a failure or
  • Page 10B-65222EN/03 SAFETY PRECAUTIONS 1.4 NOTE NOTE - 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. - When storing a motor, put it in a dry (non-condensing) place at room temperature (0 to 40 °C). If
  • Page 11SAFETY PRECAUTIONS B-65222EN/03 NOTE - Do not apply a commercial power source voltage directly to a motor. Applying a commercial power source voltage directly to a motor may result in its windings being burned. Be sure to use a specified amplifier for supplying voltage to the motor. - Before using a
  • Page 12B-65222EN/03 PREFACE PREFACE This manual covers information on the following models: FANUC LINEAR MOTOR series Model 300D/4 Model 600D/4 Model 900D/4 Model 1500A/4 Model 3000B/2, 3000B/4 Model 6000B/2, 6000B/4 Model 9000B/2, 9000B/4 Model 15000C/2, 15000C/3 CAUTION Handling or installing the motor i
  • Page 13PREFACE B-65222EN/03 1.1 ORGANIZATION OF THIS MANUAL This manual is mainly divided into the following five chapters: I. SPECIFICATIONS Contains information about the specifications of linear motors such as force versus speed diagrams, external dimensions, and cooling conditions. II. CONFIGURATIONS A
  • Page 14B-65222EN/03 PREFACE 1.2 ACCEPTANCE AND STORAGE WARNING Mishandling a magnet plate may be highly dangerous, resulting in a fatal accident. Read and thoroughly understand the cautions on the next page and Part III, "HANDLING, DESIGN, and INSTALLATION," before handling the magnet plate and strictly ob
  • Page 15PREFACE B-65222EN/03 1.3 HANDLING A MAGNET PLATE (CAUTIONS) WARNING 1 Mishandling a magnet plate may be highly dangerous, resulting in a fatal accident. Read and thoroughly understand these cautions and Part III, "HANDLING, DESIGN, and INSTALLATION," before handling the magnet plate and strictly obs
  • Page 16B-65222EN/03 PREFACE The following items may be affected by magnetic fields, resulting in damage or malfunction. When handling the magnet plate, do not carry any item listed below (or another item which is not listed) with you and keep the items away from the magnet fields unless it is necessary. FA
  • Page 17
  • Page 18B-65222EN/03 TABLE OF CONTENTS TABLE OF CONTENTS SAFETY PRECAUTIONS .......................................................................... s-1 PREFACE.................................................................................................. p-1 I. SPECIFICATIONS 1 OVERVIEW ..............
  • Page 19TABLE OF CONTENTS B-65222EN/03 1.3 MOTOR ARRANGEMENT AND DRIVING METHODS ...............................57 1.3.1 When the Coil Slider Is Used as the Movable Part and When the Magnet Plate Is Used as the Movable Part .................................................................................. 5
  • Page 20B-65222EN/03 TABLE OF CONTENTS 2.4.3 Incremental Linear Encoder and Magnetic Pole Sensor Mounting Positions....... 98 2.4.4 Absolute Linear Encoder Mounting Position ...................................................... 101 2.5 THERMOSTAT CONNECTION .................................................
  • Page 21TABLE OF CONTENTS B-65222EN/03 3.3.4 15000C/2 and 15000C/3...................................................................................... 140 3.4 MOUNTING A LINEAR ENCODER ...........................................................144 3.5 MOUNTING A MAGNETIC POLE SENSOR ......................
  • Page 22I. SPECIFICATION
  • Page 23
  • Page 24B-65222EN/03 SPECIFICATIONS 1.OVERVIEW 1 OVERVIEW Parts supplied by FANUC The following shows a typical system configuration of the FANUC Linear Motor series. Thermostat line Servo amplifier Magnet plate Coil slider Magnetic pole sensor FSSB Power line Position detection circuit Linear encoder FANUC
  • Page 251.OVERVIEW SPECIFICATIONS B-65222EN/03 FANUC does not supply parts listed below. Use parts manufactured by third parties as required. - Linear encoder - Movable cable and others - Linear guide - Cable carrier - Axis cover - Scraper - Cooling devices (cooler, fan, and others) - Shock absorber - Exter
  • Page 26B-65222EN/03 SPECIFICATIONS 2.SPECIFICATIONS 2 SPECIFICATIONS -5-
  • Page 272.SPECIFICATIONS SPECIFICATIONS B-65222EN/03 2.1 TERMS USED IN THE SPECIFICATION LIST AND SPEED DIAGRAMS - Cooling method There are the following methods for cooling a coil slider: No cooling, air cooling, and water cooling. - Maximum speed Maximum speed of the motor. You can run the motor at up to
  • Page 28B-65222EN/03 SPECIFICATIONS 2.SPECIFICATIONS - Maximum amplifier current Maximum peak current of the standard amplifier. The effective value can be obtained by dividing this value by 2 . - Force constant Force obtained when 1 Arms flows for one phase. The following expression can be satisfied: [forc
  • Page 292.SPECIFICATIONS SPECIFICATIONS B-65222EN/03 2.2 SPECIFICATION LIST *1 Model Item Symbol Unit 300D/4 600D/4 900D/4 No Air Water No Air Water No Air Water Cooling method(*2) - - cooling cooling cooling cooling cooling cooling cooling cooling cooling Maximum speed - m/s 4 4 4 Upper speed for the - m/s
  • Page 30B-65222EN/03 SPECIFICATIONS 2.SPECIFICATIONS *1 Model Unit Symbol Item 1500A/4 3000B/2 *9 3000B/4 No Air Water No Air Water No Air Water - - Cooling method (*2) cooling cooling cooling cooling cooling cooling cooling cooling cooling 2 4 4 m/s - Maximum speed (4) 1 Upper speed for the 2 2.2 m/s - (2)
  • Page 312.SPECIFICATIONS SPECIFICATIONS B-65222EN/03 *1 Model Item Symbol Unit 6000B/2 *9 6000B/4 9000B/2 *9 No Air Water No Air Water No Air Water Cooling method(*2) - - cooling cooling cooling cooling cooling cooling cooling cooling cooling 2 2 Maximum speed - m/s 4 (4) (4) Upper speed for the 1 1 - m/s 2
  • Page 32B-65222EN/03 SPECIFICATIONS 2.SPECIFICATIONS *1 Model Unit Symbol Item 9000B/4 15000C/2 *9 15000C/3 No Air Water No Air Water No Air Water - - Cooling method(*2) cooling cooling cooling cooling cooling cooling cooling cooling cooling 2 4 3 m/s - Maximum speed (4) 0.8 Upper speed for the 2.2 1.2 m/s
  • Page 332.SPECIFICATIONS SPECIFICATIONS B-65222EN/03 2.3 FORCE-VERSUS-SPEED DIAGRAMS AND OUTPUT- VERSUS-SPEED DIAGRAMS 300D/4 (A06B-0421-B801) Maximum force Maximum output Intermittent operating area Intermittent operating area Water cooling Force (N) Output (kW) Water cooling Air cooling Continuous Air coo
  • Page 34B-65222EN/03 SPECIFICATIONS 2.SPECIFICATIONS 900D/4 (A06B-0423-B801) Maximum force Maximum output Intermittent operating area Intermittent operating area Force Water cooling Output (N) (kW) Water cooling Air cooling Continuous Air cooling Continuous operating area operating area No cooling No coolin
  • Page 352.SPECIFICATIONS SPECIFICATIONS B-65222EN/03 3000B/2 (A06B-0411-B911) Maximum force Maximum output Water cooling Intermittent Intermittent operating area operating area Force Output (N) Air cooling Water cooling (kW) Continuous operating area Air cooling Continuous operating area No cooling No cooli
  • Page 36B-65222EN/03 SPECIFICATIONS 2.SPECIFICATIONS 6000B/2 (A06B-0412-B911) Maximum force Maximum output Water cooling Intermittent operating area Intermittent operating area Force Walter cooling Output (N) (kW) Air cooling Continuous operating area Air cooling Continuous operating area No cooling No cool
  • Page 372.SPECIFICATIONS SPECIFICATIONS B-65222EN/03 9000B/2 (A06B-0413-B911) Maximum force Maximum output Intermittent Intermittent Water cooling operating area operating area Force Output (N) Water cooling (kW) Air cooling Air cooling Continuous Continuous operating area operating area No cooling No cooli
  • Page 38B-65222EN/03 SPECIFICATIONS 2.SPECIFICATIONS 15000C/2 (A06B-0414-B901) Maximum force Maximum output Water cooling Intermittent Intermittent operating area operating area Force Water cooling Output Air cooling (N) (kW) Continuous operating area Continuous operating area Air cooling No cooling No cool
  • Page 392.SPECIFICATIONS SPECIFICATIONS B-65222EN/03 15000C/2 (A06B-0414-B901 driven with 400 V) Maximum output Maximum output Water cooling Intermittent operating area Intermittent operating area Air cooling Output Water cooling Output (kW) (kW) Continuous operating area Continuous operating area Air cooli
  • Page 40B-65222EN/03 SPECIFICATIONS 2.SPECIFICATIONS 2.4 EXTERNAL DIMENSIONS 2.4.1 Coil Slider 300D/4 (A06B-0421-B801) 4 - M5×0.8, DEPTH: 10 POWER LEAD, THERMOSTAT LEAD M5×0.8, DEPTH: 10 DETAILS OF TAPPED HOLE Lead type Sheath Conductor cross Average outside 2 color section (mm ) diameter (mm) Power lead (U
  • Page 412.SPECIFICATIONS SPECIFICATIONS B-65222EN/03 600D/4 (A06B-0422-B801) 8 - M5×0.8, DEPTH: 10 POWER LEAD, THERMOSTAT LEAD M5×0.8, DEPTH: 10 DETAILS OF TAPPED HOLE Lead type Sheath Conductor cross Average outside 2 color section (mm ) diameter (mm) Power lead (U phase) Red 2.0 2.6 Power lead (V phase) W
  • Page 42B-65222EN/03 SPECIFICATIONS 2.SPECIFICATIONS 900D/4 (A06B-0423-B801) POWER LEAD, THERMOSTAT LEAD M5×0.8, DEPTH: 10 DETAILS OF TAPPED HOLE Lead type Sheath Conductor cross Average outside 2 color section (mm ) diameter (mm) Power lead (U phase) Red 2.0 2.6 Power lead (V phase) White 2.0 2.6 Power lea
  • Page 432.SPECIFICATIONS SPECIFICATIONS B-65222EN/03 1500A/4 (A06B-0410-B901) COOLING TUBE COIL SLIDER MAGNET PLATE MAGNETIC POLE SENSOR SECTION A-A CABLE OUTLET TAPPED HOLE FOR FOUR AWG10 POWER CABLES MOUNTING M8×1.25 (8) ONE AWG23 2-CONDUCTOR THERMOSTAT CABLE Cooling tube: Deoxidized copper phosphorus sea
  • Page 44B-65222EN/03 SPECIFICATIONS 2.SPECIFICATIONS - Side view (reference drawing for installation) MACHINE CLEARANCE (0.5) MAGNET PLATE ENLARGED VIEW OF PART B (2:1) MAGNET PLATE NOTE 1 To bring a corner of the coil slider into intimate contact with a peripheral part, recess the corner of the part by 0.2
  • Page 452.SPECIFICATIONS SPECIFICATIONS B-65222EN/03 3000B/2 (A06B-0411-B911) 3000B/4 (A06B-0411-B811) MAGNET PLATE COIL SLIDER MAGNETIC POLE SENSOR SECTION A-A COOLING TUBE 11/16" - 16 UNIFIED EXTERNAL THREAD (2) FOR COUPLING MANUFACTURED BY PARKER (#6-LHB3) THERMOSTAT CONNECTOR POWER LINE TERMINAL TAPPED
  • Page 46B-65222EN/03 SPECIFICATIONS 2.SPECIFICATIONS 6000B/2 (A06B-0412-B911) 6000B/4 (A06B-0412-B811) MAGNET PLATE COIL SLIDER MAGNETIC POLE SECTION A-A SENSOR COOLING TUBE 11/16" - 16 UNIFIED EXTERNAL THREAD (2) FOR COUPLING MANUFACTURED BY PARKER (#6-LHB3) THERMOSTAT CONNECTOR TAPPED HOLE FOR MOUNTING M8
  • Page 472.SPECIFICATIONS SPECIFICATIONS B-65222EN/03 9000B/2 (A06B-0413-B911) 9000B/4 (A06B-0413-B811) MAGNET PLATE COIL SLIDER SECTION A-A MAGNETIC POLE SENSOR COOLING TUBE 11/16" - 16 UNIFIED EXTERNAL THREAD (2) FOR COUPLING MANUFACTURED BY PARKER (#6-LHB3) THERMOSTAT CONNECTOR TAPPED HOLE FOR POWER LINE
  • Page 48B-65222EN/03 SPECIFICATIONS 2.SPECIFICATIONS 15000C/2 (A06B-0414-B901) 15000C/3 (A06B-0414-B811) MAGNET PLATE COIL SLIDER SECTION A-A MAGNETIC POLE SENSOR COOLING TUBE 11/16" - 16 UNIFIED EXTERNAL THREAD (2) FOR COUPLING MANUFACTURED BY PARKER (#6-LHB3) THERMOSTAT CONNECTOR TAPPED HOLE FOR MOUNTING
  • Page 492.SPECIFICATIONS SPECIFICATIONS B-65222EN/03 - Thermostat connector (standard accessory) COOLING TUBE MAGNETIC POLE SENSOR MOUNTING SECTION (FOR INCREMENTAL LINEAR ENCODER) THERMOSTAT CONNECTOR(ACCESSORY) POWER LINE TERMINAL NOTE 1 This connector is for the 3000B, 6000B, 9000B, and 15000C and suppli
  • Page 50B-65222EN/03 SPECIFICATIONS 2.SPECIFICATIONS 2.4.2 Magnet Plate WARNING Mishandling a magnet plate may be highly dangerous, resulting in a fatal accident. Read and thoroughly understand Part III, "HANDLING, DESIGN, and INSTALLATION," before handling the magnet plate and strictly observe the cautions
  • Page 512.SPECIFICATIONS SPECIFICATIONS B-65222EN/03 For 1500A/4 (Magnet plate A) A06B-0410-B931 (Length 240mm) A06B-0410-B932 (Length 420mm) A06B-0410-B933 (Length 600mm) A06B-0410-B934 (Length 960mm) 8.5-DIA THROUGH, 14-DIA COUNTERBORE, DEPTH: 9, A PLACES DATUM PLANE DATUM PLANE 90 EQUIDISTANT PITCH MARKI
  • Page 52B-65222EN/03 SPECIFICATIONS 2.SPECIFICATIONS For 3000B/2, 3000B/4, 6000B/2, 6000B/4, 9000B/2, 9000B/4 (Magnet plate B) A06B-0413-B931 (Length 240mm) A06B-0413-B932 (Length 420mm) A06B-0413-B933 (Length 600mm) A06B-0413-B934 (Length 960mm) 8.5-DIA THROUGH, 14-DIA COUNTERBORE, DEPTH: 9, A PLACES DATUM
  • Page 532.SPECIFICATIONS SPECIFICATIONS B-65222EN/03 For 15000C/2, 15000C/3 A06B-0414-B921 (Length 240mm) A06B-0414-B922 (Length 420mm) A06B-0414-B923 (Length 600mm) A06B-0414-B924 (Length 960mm) 8.5-DIA THROUGH, 14-DIA COUNTERBORE, DEPTH: 9, A PLACES DATUM PLANE DATUM PLANE 90 EQUIDISTANT PITCH MARKING "N"
  • Page 54B-65222EN/03 SPECIFICATIONS 2.SPECIFICATIONS 2.4.3 Cooling Plate For 300D/4 (A06B-0423-K001) 4 - 5.5-DIA THROUGH Material: Plate: Aluminum Tube: Deoxidized copper phosphorus seamless tube. Outside diameter: 6.35 mm (1/4 inches) Wall thickness: 0.6 mm Mass: 0.15 kg NOTE This cooling plate is dedicate
  • Page 552.SPECIFICATIONS SPECIFICATIONS B-65222EN/03 For 900D/4 (A06B-0423-K003) 10 - 5.5-DIA THROUGH Material: Plate: Aluminum Tube: Deoxidized copper phosphorus seamless tube. Outside diameter: 6.35 mm (1/4 inches) Wall thickness: 0.6 mm Mass: 0.25 kg NOTE This cooling plate is dedicated to the 900D/4. It
  • Page 56B-65222EN/03 SPECIFICATIONS 2.SPECIFICATIONS 2.4.4 Magnetic Pole Sensor NOTE To use an incremental linear encoder, a magnetic pole sensor is required. A position detection circuit described in the following subsection is also required. When an absolute linear encoder is used, neither is required. Fo
  • Page 572.SPECIFICATIONS SPECIFICATIONS B-65222EN/03 For 1500A/4 to 15000C/3 (A860-0331-T001) 6.6-DIA TO : POSITION DETECTION CIRCUIT APPROX.83 WHEN CABLE IS CONNECTED Mass: 0.12 kg (body only, not including the cable) NOTE To connect this detector and position detection circuit, prepare cable K4. For detai
  • Page 58B-65222EN/03 SPECIFICATIONS 2.SPECIFICATIONS 2.4.5 Position Detection Circuit One-output type (A860-0333-T001) Two-output type (A860-0333-T002) NOTE To use an incremental linear encoder, a position detection circuit is required. A magnetic pole sensor described in the previous subsection is also req
  • Page 592.SPECIFICATIONS SPECIFICATIONS B-65222EN/03 2.4.6 Parts for Connecting a Cooling Tube This subsection explains supplies (dedicated tool and couplers) for connecting the cooling tube in the 3000B/2 to 15000C/3 Linear Motor to an external cooling unit. NOTE You may create these parts by referencing t
  • Page 60B-65222EN/03 SPECIFICATIONS 2.SPECIFICATIONS Coupler for transforming an inch screw to taper pipe thread R1/4 (external thread) (A06B-0413-K203) This coupler transforms the base for connecting an inch screw that is mounted on a coil slider to taper thread R1/4 (external thread). A set of two parts:
  • Page 612.SPECIFICATIONS SPECIFICATIONS B-65222EN/03 Coupler for transforming an inch screw to taper pipe thread R1/8 (external thread) (A06B-0413-K204) This coupler transforms the base for connecting an inch screw that is mounted on a coil slider to taper thread R1/8 (external thread). A set of two parts:
  • Page 62B-65222EN/03 SPECIFICATIONS 2.SPECIFICATIONS 2.5 CABLES 2.5.1 Overview of Connection A typical linear motor cable connection is shown below: Thermostat line Servo amplifier Magnet plate Coil slider Magnetic pole sensor FSSB Power line Position detection circuit Linear encoder Cable Connection Orderi
  • Page 632.SPECIFICATIONS SPECIFICATIONS B-65222EN/03 2.5.2 Cable K2 (for Position Detection Circuit A860-0333-T001) CNC/servo amplifier Position detection circuit Grounded to the ground bar. Connector: FI40-2015S Connector: RM21WTP-15S-(8) Connector cover: FI-20-CV Manufacturer: Hirose Electric Co., Ltd. Ma
  • Page 64B-65222EN/03 SPECIFICATIONS 2.SPECIFICATIONS 2.5.3 Cable K2 (for Position Detection Circuit A860-0333-T002) CNC/servo amplifier Position detection circuit Axis (2N+1) (DSP N+1) N: Natural number Grounded to the ground bar. Grounded to the ground bar. Connector: FI40-2015S Connector: RM21WTP-15S-(8)
  • Page 652.SPECIFICATIONS SPECIFICATIONS B-65222EN/03 2.5.4 Cable K4 Magnetic pole sensor Position detection circuit Connector: RM15WTP-10S-(9) Connector: RM15WTP-10S-(9) Manufacturer: Hirose Electric Co., Ltd. Manufacturer: Hirose Electric Co., Ltd. Used wires 2 0V, 5V Nominal cross section:0.5mm , at least
  • Page 66B-65222EN/03 SPECIFICATIONS 2.SPECIFICATIONS 2.5.5 Cable K5 Linear encoder Position detection circuit Connector: RM15WTP-12P-(dia) Manufacturer: Hirose Electric Co., Ltd. NOTE Use the cable supplied with the linear encoder or specified by the linear encoder manufacturer. Specify dia (mm) at the end
  • Page 672.SPECIFICATIONS SPECIFICATIONS B-65222EN/03 2.5.7 Cable Length Design Design the cable length so that the voltage drop by cables K2 and K4 and that by cables K2 and K5 are 0.2 V or less. NOTE When designing the cable length, note that the sum of the current consumption of the position detection cir
  • Page 68B-65222EN/03 SPECIFICATIONS 2.SPECIFICATIONS 2.6 APPLICABLE AMPLIFIERS The FANUC Linear Motor series is driven using the FANUC servo amplifier α and β series that support the FSSB interface. CAUTION Combining these motors with any amplifier other than listed below may damage the motor or amplifier.
  • Page 692.SPECIFICATIONS SPECIFICATIONS B-65222EN/03 For 600D/4 and 900D/4 Connectable Type of amplifier Name Specification axis α series SVM1-40L A06B-6096-H104 servo amplifier module SVM2-40L/40L A06B-6096-H209 L,M axis β series SVU-40 A06B-6093-H113 servo amplifier unit For 1500A/4 and 3000B/2 Connectabl
  • Page 70B-65222EN/03 SPECIFICATIONS 2.SPECIFICATIONS For 15000C/3 Connectable Type of amplifier Name Specification axis α series SVM1-360 A06B-6096-H108 servo amplifier module NOTE 1 For details of the α series servo amplifier modules, refer to the latest version of the descriptions (B-65162E). 2 For detail
  • Page 71
  • Page 72II. CONFIGURATIONS AND SELECTIO
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  • Page 74B-65222EN/03 CONFIGURATIONS AND SELECTION 1.SYSTEM CONFIGURATION 1 SYSTEM CONFIGURATION - 53 -
  • Page 751.SYSTEM CONFIGURATION CONFIGURATIONS AND SELECTION B-65222EN/03 1.1 INCREMENTAL LINEAR ENCODER SYSTEM For the FANUC Linear Motor series, motors are controlled using feedback signals from a linear encoder. This section explains a system in which an incremental linear encoder is used. 1.1.1 Example o
  • Page 76B-65222EN/03 CONFIGURATIONS AND SELECTION 1.SYSTEM CONFIGURATION 1.1.2 Applicable Linear Encoder An incremental linear encoder to be used for the FANUC Linear Motor series must satisfy the following specifications: - The output from the scale is an analog signal at 1 Vp-p. - Reference mark signals (
  • Page 771.SYSTEM CONFIGURATION CONFIGURATIONS AND SELECTION B-65222EN/03 1.2 ABSOLUTE LINEAR ENCODER SYSTEM For the FANUC Linear Motor series, motors are controlled using feedback signals from a linear encoder. This section explains a system in which an absolute linear encoder is used. 1.2.1 Example of Conf
  • Page 78B-65222EN/03 CONFIGURATIONS AND SELECTION 1.SYSTEM CONFIGURATION 1.3 MOTOR ARRANGEMENT AND DRIVING METHODS 1.3.1 When the Coil Slider Is Used as the Movable Part and When the Magnet Plate Is Used as the Movable Part When installing a linear motor on a machine, you can select using the coil slider as
  • Page 791.SYSTEM CONFIGURATION CONFIGURATIONS AND SELECTION B-65222EN/03 1.3.2 Parallel Arrangement, Serial Arrangement, and Symmetrical Arrangement One feature of linear motors is that multiple motors (coil sliders) can be installed along one axis. For example, when the force obtained by one motor is insuf
  • Page 80B-65222EN/03 CONFIGURATIONS AND SELECTION 1.SYSTEM CONFIGURATION Combination of parallel and serial arrangements Three or more linear motors can be arranged using the method of combining parallel and serial arrangements. The following figure shows an example of arranging four linear motors using thi
  • Page 811.SYSTEM CONFIGURATION CONFIGURATIONS AND SELECTION B-65222EN/03 1.3.3 Driving Two Motors If you want to drive two motors along one axis, select one of the following control methods according to the connection rigidity between motors. NOTE This subsection gives typical examples when an incremental l
  • Page 82B-65222EN/03 CONFIGURATIONS AND SELECTION 1.SYSTEM CONFIGURATION When the connection rigidity between motors is low The motors are driven with simple synchronous control based on separate position control for each axis or complete synchronous control. In this case, two linear encoders are required.
  • Page 831.SYSTEM CONFIGURATION CONFIGURATIONS AND SELECTION B-65222EN/03 1.3.5 Driving Multiple Motors with a Large-Capacity Amplifier With the methods introduced above, one motor is combined with one amplifier. Combining one motor with one amplifier is the best method from control and motor protection view
  • Page 84B-65222EN/03 CONFIGURATIONS AND SELECTION 2.SELECTION METHODS 2 SELECTION METHODS - 63 -
  • Page 852.SELECTION METHODS CONFIGURATIONS AND SELECTION B-65222EN/03 2.1 COIL SLIDER SELECTION A coil slider should be selected according to the following items. NOTE For information related to the motor specifications, also see Part I, "SPECIFICATIONS." 2.1.1 Load Force The load force means the whole load
  • Page 86B-65222EN/03 CONFIGURATIONS AND SELECTION 2.SELECTION METHODS 2.1.3 Root Mean Square Force The root mean square force means the root mean value of the force required in one duty cycle. The root mean square force must not be greater than the rated continuous force of the motor. If the root mean squar
  • Page 872.SELECTION METHODS CONFIGURATIONS AND SELECTION B-65222EN/03 Force required during deceleration=(300+34)×9.8×1.5-605 4305[N] because the load force contributes to deceleration. When the motor stops, it also keeps producing force to prevent drifting, a load force of 605 N calculated in Subsection 2.
  • Page 88B-65222EN/03 CONFIGURATIONS AND SELECTION 2.SELECTION METHODS 2.1.4 Overload Duty Characteristic A linear motor can be used intermittently, even out of its rated continuous operating area, when the maximum force is not exceeded. The overload duty characteristic represents the duty ratio (%) and "on
  • Page 892.SELECTION METHODS CONFIGURATIONS AND SELECTION B-65222EN/03 The following show the overload duty characteristic curves for each motor. 300D4, 600D/4, 900D/4 No cooling Duty (%) On time (minutes) 300D4, 600D/4, 900D/4 Air cooling Duty (%) On time (minutes) - 68 -
  • Page 90B-65222EN/03 CONFIGURATIONS AND SELECTION 2.SELECTION METHODS 300D4, 600D/4, 900D/4 Water cooling Duty (%) On time (minutes) 1500A/4, 3000B, 6000B, 9000B, 15000C No cooling Duty (%) On time (minutes) NOTE The 3000B, 6000B, 9000B, and 15000C mean the 3000B/2 and 3000B/4, 6000B/2 and 6000B/4, 9000B/2
  • Page 912.SELECTION METHODS CONFIGURATIONS AND SELECTION B-65222EN/03 1500A/4, 3000B, 6000B, 9000B, 15000C Air cooling Duty (%) On time (minutes) 1500A/4, 3000B, 6000B, 9000B, 15000C Water cooling Duty (%) On time (minutes) NOTE 1 The 3000B, 6000B, 9000B, and 15000C mean the 3000B/2 and 3000B/4, 6000B/2 and
  • Page 92B-65222EN/03 CONFIGURATIONS AND SELECTION 2.SELECTION METHODS 2.1.5 Amount of Travel when Dynamic Brake is Applied Because the FANUC Linear Motor is a synchronous motor, a dynamic brake can be applied by short-circuiting the power wires. When an emergency stop is used, for example, because of an abn
  • Page 932.SELECTION METHODS CONFIGURATIONS AND SELECTION B-65222EN/03 2.2 MAGNET PLATE SELECTION Magnet plates can be combined only with the motor models listed in the following table. Magnet Specification Magnet plate Motor model plate length drawing number of type (mm) the magnet plate 300D/4, 600D/4, D 3
  • Page 94B-65222EN/03 CONFIGURATIONS AND SELECTION 2.SELECTION METHODS Procedure for selecting a magnet plate <1> Obtain the magnet plate track length (total length of magnet plates). Magnet plate track length ≥ effective stroke + coil slider length + coasting distance when the dynamic brake is applied + mar
  • Page 952.SELECTION METHODS CONFIGURATIONS AND SELECTION B-65222EN/03 2.3 POWER SUPPLY MODULE (PSM) SELECTION 2.3.1 Selecting a Power supply Module Select a power supply module (called a PSM below) required for driving the linear motor as follows. NOTE PSM selection described in this subsection assumes the
  • Page 96B-65222EN/03 CONFIGURATIONS AND SELECTION 2.SELECTION METHODS When the motor is driven with 200 V Reference data for PSM selection (Maximum Model name output during acceleration/deceleration: kW) 0m/s to 2.3m/s 2.3m/s to 4m/s 300D/4 P=V×1.4÷2.3 1.4kW 0m/s to 2.3m/s 2.3m/s to 4m/s 600D/4 P=V×2.7÷2.3
  • Page 972.SELECTION METHODS CONFIGURATIONS AND SELECTION B-65222EN/03 Example: Assume that the selection conditions are the same as those described above. Because two 300D/4s are to be used at a maximum speed of 2 m/s, the maximum output is: P=2×1.4÷2.3×2 2.5(kW) (with fractions rounded up) <3> Determine a
  • Page 98B-65222EN/03 CONFIGURATIONS AND SELECTION 2.SELECTION METHODS 2.3.2 Calculating the Amount of Regenerative Energy NOTE When you use an amplifier using the power supply regeneration method, you need not calculate the amount. The following expressions give the amount of energy regenerated in a linear
  • Page 992.SELECTION METHODS CONFIGURATIONS AND SELECTION B-65222EN/03 2.4 EXTERNAL COOLING UNIT SELECTION 2.4.1 Overview To forcibly cool a linear motor, an external cooling unit is required. It is desirable to use a chiller (cooler) for water cooling or industrial dry air for air cooling. The cooling unit
  • Page 100B-65222EN/03 CONFIGURATIONS AND SELECTION 2.SELECTION METHODS 2.4.2 Example of Selection The cooling unit to be used must has the capacity listed under "Required cooling capacity" in the specification list in Part I, "SPECIFICATIONS." This value is determined under the condition that root mean squar
  • Page 1013.LINEAR MOTOR SELECTION FORMCONFIGURATIONS AND SELECTION B-65222EN/03 3 LINEAR MOTOR SELECTION FORM For selecting a FANUC linear motor, fill in a "Linear Motor Selection Form" shown on another page and submit the form to a FANUC sales representative. FANUC experts on linear motors will consider an
  • Page 102B-65222EN/03 CONFIGURATIONS AND SELECTION3.LINEAR MOTOR SELECTION FORM - Friction coefficient Enter the friction coefficient of the machine sliding surface. - Load weight If the required force varies between when the load is lifted and when it is lowered, enter the required force for the both cases.
  • Page 1033.LINEAR MOTOR SELECTION FORMCONFIGURATIONS AND SELECTION B-65222EN/03 Linear Motor Selection Form Enter all items without omission. NOTE Be sure to read this part, "CONFIGURATIONS AND SELECTION," before entering items. Company name Date of entry Year: Month: Day: Department and name of person in ch
  • Page 104III. HANDLING, DESIGN, AND ASSEMBL
  • Page 105
  • Page 106B-65222EN/03 HANDLING, DESIGN, AND ASSEMBLY 1.HANDLING THE LINEAR MOTOR 1 HANDLING THE LINEAR MOTOR WARNING For the linear motor, very powerful magnets are used. If the linear motor is handled incorrectly, serious accidents including fatal accidents can occur. Read this chapter carefully for thoroug
  • Page 1071.HANDLING THE LINEAR MOTOR HANDLING, DESIGN, AND ASSEMBLY B-65222EN/03 1.1 COIL SLIDER Storing the coil slider The coil slider is an electric component. When storing coil sliders, observe the following: - Store coil sliders in a temperature range of 0°C to 40°C. - Store coil sliders in an indoor en
  • Page 108B-65222EN/03 HANDLING, DESIGN, AND ASSEMBLY 1.HANDLING THE LINEAR MOTOR 1.2 MAGNET PLATE WARNING For a magnet plate, many very powerful magnets are used. So, a magnet plate can cause medical appliances such as a pacemaker and AICD to malfunction. Ensure that persons wearing these medical appliances
  • Page 1091.HANDLING THE LINEAR MOTOR HANDLING, DESIGN, AND ASSEMBLY B-65222EN/03 Transporting a magnet plate WARNING 1 When transporting a magnet plate, be sure to keep the corrugated cardboard and tin plates attached to it. 2 Ensure that no magnetic materials (including a tool) are brought closer to the mag
  • Page 110B-65222EN/03 HANDLING, DESIGN, AND ASSEMBLY 1.HANDLING THE LINEAR MOTOR 1.3 SENSOR NOTE For the handling of a linear encoder, contact the manufacturer of the linear encoder. The magnetic pole sensor and position detection circuit are precision electronic components. Handle these components carefully
  • Page 1112.MECHANICAL DESIGN HANDLING, DESIGN, AND ASSEMBLY B-65222EN/03 2 MECHANICAL DESIGN CAUTION This section provides information about the mechanical design of the linear motor. The linear motor can become uncontrollable in the worst case when its dimensions for installation are incorrect. Be sure to r
  • Page 112B-65222EN/03 HANDLING, DESIGN, AND ASSEMBLY 2.MECHANICAL DESIGN 2.1 MOUNTING COIL SLIDERS Mounting surface of a coil slider NOTE The surface of a coil slider used for mounting onto the machine is predetermined. If the surface of a coil slider used for mounting onto the machine is incorrect, the line
  • Page 1132.MECHANICAL DESIGN HANDLING, DESIGN, AND ASSEMBLY B-65222EN/03 1500A/4 or models of larger sizes Mount the metallic side onto the machine. The opposite side is coated with black resin (coating compound) and is to face the magnet plate. With 1500A/4 or models of larger sizes, either side of the slid
  • Page 114B-65222EN/03 HANDLING, DESIGN, AND ASSEMBLY 2.MECHANICAL DESIGN 2.2 MOUNTING MAGNET PLATES Direction and mounting hole locations of magnet plates Mount the metallic side of a magnet plate onto the machine, and face the black resin side toward the coil slider. "N" mark "N" mark Resin Magnet plate Mag
  • Page 1152.MECHANICAL DESIGN HANDLING, DESIGN, AND ASSEMBLY B-65222EN/03 2.3 LINEAR MOTOR AIR GAP An air gap of a specified width is required between the coil slider and magnet plate of the FANUC Linear Motor series. If an adequate air gap is not provided, the force of the motor changes. The required air gap
  • Page 116B-65222EN/03 HANDLING, DESIGN, AND ASSEMBLY 2.MECHANICAL DESIGN 2.4 MOUNTING A LINEAR ENCODER 2.4.1 Mounting Rigidity and Noise Protection The linear motor is controlled using only a feedback signal from the linear encoder. This means that if the mounting rigidity of the linear encoder is insufficie
  • Page 1172.MECHANICAL DESIGN HANDLING, DESIGN, AND ASSEMBLY B-65222EN/03 - When the magnet plate is movable Power line Positive Slider fixed direction Magnet plate movable Positive direction of a linear encoder The positive direction of a linear encoder is the direction in which the encoder counts up. The po
  • Page 118B-65222EN/03 HANDLING, DESIGN, AND ASSEMBLY 2.MECHANICAL DESIGN - Mitutoyo's absolute linear encoder AT353 (with the main linear encoder unit movable) The position where the "Mitutoyo" mark is provided on the main encoder unit represents the positive direction. Positive direction Main linear encoder
  • Page 1192.MECHANICAL DESIGN HANDLING, DESIGN, AND ASSEMBLY B-65222EN/03 2.4.3 Incremental Linear Encoder and Magnetic Pole Sensor Mounting Positions For 300D/4, 600D/4, and 900D/4 To use an incremental linear encoder, a magnetic pole sensor is required. The positional relationships of these components are p
  • Page 120B-65222EN/03 HANDLING, DESIGN, AND ASSEMBLY 2.MECHANICAL DESIGN NOTE With the FANUC Linear Motor series, an incremental linear encoder that outputs the reference mark signal (Z-phase signal) at one position only is required. Specify this requirement when ordering an incremental linear encoder. If an
  • Page 1212.MECHANICAL DESIGN HANDLING, DESIGN, AND ASSEMBLY B-65222EN/03 CAUTION 1 Before mounting a magnetic pole sensor and linear encoder, check that the positive direction of the linear motor matches the positive direction of the linear encoder. If a positive direction mismatch exists, the motor can beco
  • Page 122B-65222EN/03 HANDLING, DESIGN, AND ASSEMBLY 2.MECHANICAL DESIGN 2.4.4 Absolute Linear Encoder Mounting Position For 300D/4, 600D/4, and 900D/4 When a linear motor and absolute linear encoder are mounted, their predetermined positional relationships need to be observed. Slider mounting screw L neares
  • Page 1232.MECHANICAL DESIGN HANDLING, DESIGN, AND ASSEMBLY B-65222EN/03 - Example using the HEIDENHAIN 's absolute linear encoder LC191F or LC491F Slider mounting L screw nearest to the power lead Coil slider 300D/4, 600D/4 Magnet plate or 900D/4 mounting screw Power lead N S N S N S N S N S N S Absolute li
  • Page 124B-65222EN/03 HANDLING, DESIGN, AND ASSEMBLY 2.MECHANICAL DESIGN - Example using the Mitutoyo's absolute linear encoder AT353 or AT553 Slider mounting screw L nearest to the power lead Coil slider 300D/4, 600D/4 Magnet plate mounting or 900D/4 screw Power lead N S N S N S N S N S N S Absolute linear
  • Page 1252.MECHANICAL DESIGN HANDLING, DESIGN, AND ASSEMBLY B-65222EN/03 1500A/4 or models of larger sizes When a linear motor and absolute linear encoder are mounted, their predetermined positional relationships need to be observed. L Power lead or terminal Coil slider N S N S N S N S N S Absolute linear en
  • Page 126B-65222EN/03 HANDLING, DESIGN, AND ASSEMBLY 2.MECHANICAL DESIGN - Example using the HEIDENHAIN 's absolute linear encoder LC191F or LC491F L Power lead or terminal Coil slider N S N S N S N S N S Absolute linear encoder LC191F, LC491F S Mount a linear motor and linear encoder at the following positi
  • Page 1272.MECHANICAL DESIGN HANDLING, DESIGN, AND ASSEMBLY B-65222EN/03 - Example using the Mitutoyo's absolute linear encoder AT353 or AT553 L Power lead or terminal Coil slider N S N S N S N S N S Absolute linear encoder AT353, AT553 Mitutoyo ATx53 Position where the mark of the head matches the mark of t
  • Page 128B-65222EN/03 HANDLING, DESIGN, AND ASSEMBLY 2.MECHANICAL DESIGN 2.5 THERMOSTAT CONNECTION A coil slider has a built-in thermostat used to prevent the motor from overheating. The specification of the thermostat is as follows: - Actuation temperature: 90°C±5°C (temperature inside the motor) - Normal c
  • Page 1292.MECHANICAL DESIGN HANDLING, DESIGN, AND ASSEMBLY B-65222EN/03 Serial connection of multiple thermostats CNC Coil slider #1 PMC Coil slider #2 In this case, only one signal lead system is connected to the PMC. However, which motor overheated cannot be identified easily. Parallel connection of multi
  • Page 130B-65222EN/03 HANDLING, DESIGN, AND ASSEMBLY 2.MECHANICAL DESIGN 2.6 GROUND LEAD CONNECTION Ground lead connection is very important to safety, conformance to the European standards, and improved noise protection. A typical example of connection is shown below. Ground bar (insulation) Power supply (t
  • Page 1312.MECHANICAL DESIGN HANDLING, DESIGN, AND ASSEMBLY B-65222EN/03 2.7 MOTOR AND POWER LINE PROTECTION In order to obtain a desired force, one amplifier may be used to drive multiple linear motors. If a motor fails or a power lead is broken in such a case, a current larger than the specified level flow
  • Page 132B-65222EN/03 HANDLING, DESIGN, AND ASSEMBLY 2.MECHANICAL DESIGN 2.8 MOTOR HEAT-UP AND COOLING 2.8.1 Temperature Increase on the Mounting Surface of Coil Sliders The figures below show the temperature increase curves of 900D/4 and lower models, and 1500A/4 and higher models in the cases of no cooling
  • Page 1332.MECHANICAL DESIGN HANDLING, DESIGN, AND ASSEMBLY B-65222EN/03 NOTE 1 This data provides reference values and does not represent guaranteed values. 2 The values of air cooling depend on the state of cooling, but lie between those of no cooling and those of water cooling. 3 The water cooling data is
  • Page 134B-65222EN/03 HANDLING, DESIGN, AND ASSEMBLY 2.MECHANICAL DESIGN 2.8.3 Cooling Plate Addition The coil sliders of 1500A/4 and higher models have a built-in cooling tube. An optional cooling plate is available with the coil sliders of 900D/4 and lower models. For further cooling, improved continuous r
  • Page 1352.MECHANICAL DESIGN HANDLING, DESIGN, AND ASSEMBLY B-65222EN/03 2.9 VERTICAL AXIS BALANCER If a linear motor is used with the vertical axis when no balancer or mechanical brake mechanism is used, the linear motor needs to preserve its position with the continuous rated force that can be output by th
  • Page 136B-65222EN/03 HANDLING, DESIGN, AND ASSEMBLY 2.MECHANICAL DESIGN 2.10 CONSIDERATION OF MAGNETIC ATTRACTION Between a coil slider and magnet plate, magnetic attraction about three times as powerful as the maximum force of the motor is exerted. This force is constant, and is exerted even when the power
  • Page 1372.MECHANICAL DESIGN HANDLING, DESIGN, AND ASSEMBLY B-65222EN/03 2.11 AUXILIARY BRAKE MEASURES The linear motor allows the dynamic brake to be applied by connecting the power lead. If an object being moved weighs much or moves at high speed, a longer coasting distance is required. If there is no suff
  • Page 138B-65222EN/03 HANDLING, DESIGN, AND ASSEMBLY 2.MECHANICAL DESIGN 2.12 PROTECTION AGAINST DUST AND WATER If magnetic dust such as metallic dust is located near a magnet plate, the dust may be attracted to the magnet plate. In particular, dust larger than the air gap between the coil slider and magnet
  • Page 1392.MECHANICAL DESIGN HANDLING, DESIGN, AND ASSEMBLY B-65222EN/03 NOTE If sufficient dust and water protection is provided, foreign matter may penetrate unexpectedly near the motor, causing a failure or reducing the life of the motor remarkably. Be sure to conduct period maintenance according to Part
  • Page 140B-65222EN/03 HANDLING, DESIGN, AND ASSEMBLY 2.MECHANICAL DESIGN 2.13 AXIS DESIGN WITH A LOW GRAVITY CENTER For high-acceleration machines, load should be imposed uniformly on the linear guide surface. For this purpose, such a design that the center of the driving source or the motor is closer to the
  • Page 1412.MECHANICAL DESIGN HANDLING, DESIGN, AND ASSEMBLY B-65222EN/03 2.14 SCREWS FOR FIXING THE LINEAR MOTOR A magnet plate has a powerful magnetic attraction force. When magnetic screws are used, they are attracted abruptly to the magnet, resulting in very inefficient workability. In such a case, use, f
  • Page 142B-65222EN/03 HANDLING, DESIGN, AND ASSEMBLY 2.MECHANICAL DESIGN 2.15 CONFORMANCE TO STANDARDS Machine design and component selection considering the following are needed so that machines incorporating the linear motor conform to the CE marking of Europe: - Machine design, cabling, and so forth confo
  • Page 1432.MECHANICAL DESIGN HANDLING, DESIGN, AND ASSEMBLY B-65222EN/03 2.16 MAGNETIC LEAKAGE AND MAGNETIC SHIELDING Powerful permanent magnets are used for a magnet plate, so that a magnetic material, if any near the magnet plate, can be magnetized. This section describes the method of shielding magnetic l
  • Page 144B-65222EN/03 HANDLING, DESIGN, AND ASSEMBLY 2.MECHANICAL DESIGN 2.16.3 Magnetic Shielding As shown below, let Lf (mm) be the thickness of the iron plate for magnetic shielding, and let Lg (mm) be the distance between the ion plate and magnets. Iron plate (shielding plate) Resin Magnet Magnet plate I
  • Page 1452.MECHANICAL DESIGN HANDLING, DESIGN, AND ASSEMBLY B-65222EN/03 2.17 NAMEPLATE ATTACHMENT AND SERIAL NUMBER MANAGEMENT One of the nameplates shown below and a laminated sheet are packed together with the coil sliders of all models. FANUC nameplate GE Fanuc nameplate For maintenance, attach the namep
  • Page 146B-65222EN/03 HANDLING, DESIGN, AND ASSEMBLY 2.MECHANICAL DESIGN 2.18 INDICATION OF WARNING Be sure to indicate a warning to notify the operators of the presence of magnets mounted on the machine and prevent an accident from occurring. For example, attach a label or sticker that clearly indicates the
  • Page 1473.ASSEMBLY HANDLING, DESIGN, AND ASSEMBLY B-65222EN/03 3 ASSEMBLY WARNING For the linear motor, very powerful magnets are used. If the linear motor is handled incorrectly, serious accidents including fatal accidents can occur. Read this chapter carefully for thorough understanding, and do not fail t
  • Page 148B-65222EN/03 HANDLING, DESIGN, AND ASSEMBLY 3.ASSEMBLY 3.1 LINEAR MOTOR MOUNTING PROCEDURES This section introduces four procedures for mounting a linear motor on the machine. Depending on the structure of the machine, select the safest procedure. 3.1.1 Procedure #1 for Mounting a Linear Motor on th
  • Page 1493.ASSEMBLY HANDLING, DESIGN, AND ASSEMBLY B-65222EN/03 <4> Shift the movable table onto the magnet plate again, then mount a remaining magnet plate. Note that when the movable table is shifted, the movable table is pulled toward the magnet plate by magnetic attraction. CAUTION Powerful magnetic attr
  • Page 150B-65222EN/03 HANDLING, DESIGN, AND ASSEMBLY 3.ASSEMBLY 3.1.2 Procedure #2 for Mounting a Linear Motor on the Machine If the total length of magnet plates for one axis is greater than the total length of a coil slider by a factor of 2 or more, the linear motor can be mounted using the procedure below
  • Page 1513.ASSEMBLY HANDLING, DESIGN, AND ASSEMBLY B-65222EN/03 3.1.3 Procedure #3 for Mounting a Linear Motor on the Machine This procedure mounts a coil slider and magnet plate separately then performs integration. <1> Mount a magnet plate on the actual axis, and mount a coil slider onto the movable table
  • Page 152B-65222EN/03 HANDLING, DESIGN, AND ASSEMBLY 3.ASSEMBLY 3.1.4 Procedure #4 for Mounting a Linear Motor on the Machine WARNING Procedure #4 described in this subsection is most affected by the magnetic attraction of magnet plates. Do not use this procedure if the use of this procedure is avoidable. Th
  • Page 1533.ASSEMBLY HANDLING, DESIGN, AND ASSEMBLY B-65222EN/03 3.2 MOUNTING A COOLING PLATE AND CONNECTING A COOLING TUBE This section describes how to mount a cooling plate on the linear motor and connect the cooling tube. 3.2.1 300D/4, 600D/4, 900D/4 When performing forced air cooling or forced water cool
  • Page 154B-65222EN/03 HANDLING, DESIGN, AND ASSEMBLY 3.ASSEMBLY 3.2.2 3000B, 6000B, 9000B, and 15000C The coil slider for 3000B through 15000C has a built-in cooling tube. The tube built into a coil slider is based on inch screws, so that a joint for conversion to taper screws for piping (R1/4 or R1/8) is av
  • Page 1553.ASSEMBLY HANDLING, DESIGN, AND ASSEMBLY B-65222EN/03 3.3 POWER LEAD AND THERMOSTAT LEAD CONNECTION This section describes the method of linear motor power lead connection and thermostat lead connection. Connect the leads correctly according to the model used. 3.3.1 300D/4, 600D/4, and 900D/4 From
  • Page 156B-65222EN/03 HANDLING, DESIGN, AND ASSEMBLY 3.ASSEMBLY 3.3.2 1500A/4 From the coil slider, six leads are directly extended: four power leads and two thermostat leads. The table below indicates the specifications of the leads. Average outside Lead type Sheath color AWG size diameter (mm) Power lead (
  • Page 1573.ASSEMBLY HANDLING, DESIGN, AND ASSEMBLY B-65222EN/03 3.3.3 3000B/2, 3000B/4, 6000B/2, 6000B/4, 9000B/2, and 9000B/4 A terminal for power lead connection and a connector for thermostat lead connection are built into these models. Terminal and connector allocation For thermostat (pins 1 and 2) Power
  • Page 158B-65222EN/03 HANDLING, DESIGN, AND ASSEMBLY 3.ASSEMBLY NOTE 1 If the diameter of a cable is not within the allowable range specified above, the drip protection capability of the terminal is not guaranteed. Be sure to select a cable that satisfies the diameter range specified above. 2 When the coil s
  • Page 1593.ASSEMBLY HANDLING, DESIGN, AND ASSEMBLY B-65222EN/03 <4> Attach a waterproof cover onto the terminal. Ensure that the top face of the cover is flat, and that there is no gap between the cover and terminal. Waterproof cover <5> Attach a connector and cable for the thermostat. Thermostat line Power
  • Page 160B-65222EN/03 HANDLING, DESIGN, AND ASSEMBLY 3.ASSEMBLY Thermostat connector pin allocation Using a delivered connector, connect the thermostat lead. The pin allocation is shown below. Connect the thermostat lead to pin 1 and pin 2. No polarity is applicable. Pin 3 and pin 4 are not used. NOTE For ca
  • Page 1613.ASSEMBLY HANDLING, DESIGN, AND ASSEMBLY B-65222EN/03 3.3.4 15000C/2 and 15000C/3 A terminal for power lead connection and a connector for thermostat lead connection are built into these models. Terminal and connector allocation For thermostat. No polarity applicable. (Pins 1 and 2) Power line, pha
  • Page 162B-65222EN/03 HANDLING, DESIGN, AND ASSEMBLY 3.ASSEMBLY Terminal connection <1> Peel off a power lead by 8 to 10 mm, then attach a delivered crimp terminal. Crimp terminal model number: R8-NK4 Manufacturer: Japan Solderless Terminal MFG. CO., LTD. NOTE If a crimp terminal not specified is used, the d
  • Page 1633.ASSEMBLY HANDLING, DESIGN, AND ASSEMBLY B-65222EN/03 <4> Attach a waterproof cover onto the terminal. Ensure that the top face of the cover is flat, and that there is no gap between the cover and terminal. Waterproof cover <5> Attach a connector and cable for the thermostat. Thermostat line Power
  • Page 164B-65222EN/03 HANDLING, DESIGN, AND ASSEMBLY 3.ASSEMBLY Thermostat connector pin allocation Using a delivered connector, connect the thermostat lead. The pin allocation is shown below. Connect the thermostat lead to pin 1 and pin 2. No polarity is applicable. Pin 3 and pin 4 are not used. NOTE For ca
  • Page 1653.ASSEMBLY HANDLING, DESIGN, AND ASSEMBLY B-65222EN/03 3.4 MOUNTING A LINEAR ENCODER A linear encoder must be mounted at a specified location. If a linear encoder is mounted at an incorrect location, the motor can become uncontrollable in the worst case. Mount a linear encoder correctly and securely
  • Page 166B-65222EN/03 HANDLING, DESIGN, AND ASSEMBLY 3.ASSEMBLY 3.5 MOUNTING A MAGNETIC POLE SENSOR NOTE When an absolute linear encoder is used, no magnetic pole sensor and position detection circuit are required. 3.5.1 Mounting a Magnetic Pole Sensor on 300D/4, 600D/4, or 900D/4 A magnetic pole sensor must
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  • Page 170B-65222EN/03 START-UP 1.PREPARATION FOR START-UP 1 PREPARATION FOR START-UP For the start-up of an axis with a linear motor mounted, the items below are required or desirable for convenience. Prepare the following beforehand: - Descriptions (B-65222EN) - Oscilloscope (for an incremental linear encod
  • Page 1712.CHECKING MOUNTING STATE START-UP B-65222EN/03 2 CHECKING MOUNTING STATE CAUTION If a linear motor or linear encoder is mounted incorrectly, the motor can become uncontrollable in the worst case. Before turning on the power, check that the linear motor and linear encoder are mounted correctly. Befo
  • Page 172B-65222EN/03 START-UP 3.CHECKING FEEDBACK OUTPUT SIGNAL 3 CHECKING FEEDBACK OUTPUT SIGNAL NOTE The operation described below is required only when an incremental linear encoder is used. The operation described below is not required when an absolute linear encoder is used. CAUTION Turn on the power t
  • Page 1733.CHECKING FEEDBACK OUTPUT SIGNAL START-UP B-65222EN/03 Connect the probe GND of the oscilloscope to the reference voltage T1 (= 2.5 V) then check 0° (phase A) 90° (phase B). If the coil slider moves in the direction opposite to the power line extension direction, ensure that the output waveform of
  • Page 174B-65222EN/03 START-UP 4.PARAMETER SETTING 4 PARAMETER SETTING To drive the linear motor, the parameters for the linear motor need to be set. This section describes the method of setting basic parameters required to start up an axis with a linear motor mounted. NOTE For the methods of parameter setti
  • Page 1754.PARAMETER SETTING START-UP B-65222EN/03 4.1 LINEAR MOTOR PARAMETER SETTING 4.1.1 Procedure for Setting the Initial Parameters of Linear Motors (1) Overview The following describes the procedure for setting the digital servo parameters to enable the use of a FANUC linear motor. (2) Series and editi
  • Page 176B-65222EN/03 START-UP 4.PARAMETER SETTING (4) Parameter settings Set the parameters according to the procedure below. Note the points below when setting the parameters. [Note on using absolute type linear encoders] In the parameter setting procedure below, there is a parameter dependent on the encod
  • Page 1774.PARAMETER SETTING START-UP B-65222EN/03 (5) Servo Parameter Initialization Procedure (1) Switch on the NC in an emergency stop state. Enable parameter writing (PWE = 1). (2) Initialize servo parameters on the servo setting screen. For a Power Mate with no CRT, specify a value for an item number on
  • Page 178B-65222EN/03 START-UP 4.PARAMETER SETTING (3) Start initialization. #7 #6 #5 #4 #3 #2 #1 #0 INITIAL SET BIT PRMC DGPR PLC0 ( Note) Start initialization (Keep the NC power on until step (10).) DGPR (#1) = 0 Automatically set to 1 after initialization. NOTE Once initialization has been completed, auto
  • Page 1794.PARAMETER SETTING START-UP B-65222EN/03 Parameter setting procedure (1) Procedure (1) can be used to initialize the parameters (such as current gain) necessary to drive a linear motor. After initialization, it is necessary to set the parameters that depend on the signal pitch of the encoder. So, f
  • Page 180B-65222EN/03 START-UP 4.PARAMETER SETTING Parameter setting procedure (2) Procedure (2) can be used to specify the parameters that depend on the signal pitch of the scale. Set the parameters according to Table 4.1.1 (a), (b). When using an absolute type linear encoder, calculate as follows: Encoder
  • Page 1814.PARAMETER SETTING START-UP B-65222EN/03 1977 - Flexible feed gear numerator 2084 - 1978 - Flexible feed gear denominator 2085 - Use a unified detection unit for the flexible feed gear (FFG) parameters according to Tables 4.1.1 (a) and 4.1.1 (b). (Parameter calculation expression) FFG = 5/128 × (en
  • Page 182B-65222EN/03 START-UP 4.PARAMETER SETTING *1 If the number of position/velocity pulses does not fit one word, set the following bit to 1. #7 #6 #5 #4 #3 #2 #1 #0 1804 - PLC0 2000 - PLC0 (#0) Specifies whether to use the number of velocity or position pulses without modifying them, as follows: 0: Not
  • Page 1834.PARAMETER SETTING START-UP B-65222EN/03 Parameter setting procedure (3) When a linear motor is used, the linear encoder must be installed so that the Z phase of the linear encoder matches the origin of the activating phase. Otherwise, the specified motor characteristics cannot be obtained. (For de
  • Page 184B-65222EN/03 START-UP 4.PARAMETER SETTING Incremental type The procedure for AMR offset adjustment when an incremental type linear encoder is used is described below. When using an absolute type linear encoder, see the item of Absolute type described later. Make a fine activating phase adjustment ac
  • Page 1854.PARAMETER SETTING START-UP B-65222EN/03 0.3 V (45°) or lower 2.2 V (315°) or higher A A Phase Z Phase Z Fig. 4.1.1 (a) If the offset is set with a positive number Fig. 4.1.1 (b) If the offset is set with a negative number * The figures above show examples where AMR60 = 0. When AMR60 = 1, "0.3 V (4
  • Page 186B-65222EN/03 START-UP 4.PARAMETER SETTING 8) Switch the power off and on again. This completes parameter setting. 0.3 V (45°) or lower(*) 2.2 V (315°) or lower(*) 2.5V 2.5V A A Phase Z Phase Z Fig. 4.1.1(c) If the offset is set with a positive number Fig. 4.1.1(d) If the offset is set with a negativ
  • Page 1874.PARAMETER SETTING START-UP B-65222EN/03 In this state, activating phase data is output to No. 353 on the CNC diagnosis screen. Note that display data = 256 on the diagnosis screen corresponds to an activating phase of 360 degrees. The following expression is used for output unit conversion to an a
  • Page 188B-65222EN/03 START-UP 4.PARAMETER SETTING * Make measurements of 5) and 6) several times by changing the DC activation start position within one pole (medium- size, large linear motor = 60 mm, small linear motor = 30 mm) to fine average activating phase data (value of DGN No. 353). 7) Based on activ
  • Page 1894.PARAMETER SETTING START-UP B-65222EN/03 Parameter setting procedure (4) Procedure (4) can be used to set parameters according to the cooling method used for linear motors. Change the following parameters as listed in Table 4.1.1 (c). For no cooling linear motors, the parameters need not be set her
  • Page 190B-65222EN/03 START-UP 4.PARAMETER SETTING Cooling Rated Model POVC1 POVC2 POVCLMT RTCURR method (N) No cooling 1200 32740 345 1024 744 6000B/4 Air-cooled 1440 32728 497 1474 893 * Water-cooled 2400 32658 1380 4095 1489 No cooling 1800 32708 744 2207 1093 9000B/2 Air-cooled 2160 32682 1071 3177 1311
  • Page 1914.PARAMETER SETTING START-UP B-65222EN/03 Parameter setting procedure (5) Procedure (5) supplements descriptions about application of servo HRV2 for linear motors. When servo HRV2 is applied to increase the current loop gain of a linear motor, it is necessary to set the following parameter, because
  • Page 192B-65222EN/03 START-UP 4.PARAMETER SETTING (6) Invalid-parameter alarm when linear motors are used The following invalid-parameter alarm checks are added when linear motors are used (they are not issued for rotational motors). • No separate detector can be used for linear motors. (Full-closed loop se
  • Page 1934.PARAMETER SETTING START-UP B-65222EN/03 (7) Notes on using high-speed HRV current control or the cutting feed/rapid traverse switchable velocity loop gain function In general, a higher velocity loop gain (load inertia ratio) is set for a linear motor than for a rotary motor. So, if high-speed HRV
  • Page 194B-65222EN/03 START-UP 4.PARAMETER SETTING 4.1.2 Smooth Compensation for Linear Motor (1) Overview Smooth compensation for linear motors improves the smoothness in feed of a linear motor by producing a sinusoidal compensation torque with a cycle of 1/2, 1/4, or 1/6 of the pole-to-pole span produced b
  • Page 1954.PARAMETER SETTING START-UP B-65222EN/03 The following procedure use terms "odd-numbered axis" and "even- numbered axis" in relation to axis numbers specified in parameter No. 1023 (common to the Series 15i and Series 16i). <1> Series 90B0: Does not require step <1>. Go to step <2>. Series 9096: To
  • Page 196B-65222EN/03 START-UP 4.PARAMETER SETTING <2>-b When using A06B-6057-H630 (one-piece analog/digital type), set up the 7-segment LED digits on the check board as shown below: * Letter X stands for an axis X 5 X 1 number specified in parameter No. 1023. CH1 CH2 Phase Torque <3> To measure the activati
  • Page 1974.PARAMETER SETTING START-UP B-65222EN/03 <7> Pressing the F1 key (to start measurement) at regular speed displays the data shown below. (Check that the activating phase angle-based sine waveform changes from negative to positive at three points or more.) CAUTION Measurement direction varies with th
  • Page 198B-65222EN/03 START-UP 4.PARAMETER SETTING Example of measurement (a) Measured waveform where parameter value calculation is possible (b) Measured waveform where parameter value calculation is impossible (No. 1) Two activating phase angle-based sine waves cannot be acquired because of insufficient me
  • Page 1994.PARAMETER SETTING START-UP B-65222EN/03 (c) Measured waveform where parameter value calculation is impossible (No. 2) Two activating phase angle-based sine waves cannot be acquired because of an inappropriate measurement start position. - 178 -
  • Page 200B-65222EN/03 START-UP 4.PARAMETER SETTING 4.2 VELOCITY LOOP GAIN The velocity loop gain of a linear motor is based not on the concept of load inertia but on the ratio of load mass to coil slider mass. For 15000C, for example, suppose that the mass of the coil slider is 48 kg, and the load (the mass
  • Page 2015.TROUBLES AND CAUSES START-UP B-65222EN/03 5 TROUBLES AND CAUSES The table below lists those troubles that often occur when a machine with a linear motor mounted is started up, and their causes. Trouble Possible cause The linear motor does not The coil slider is mounted upside down. operate. The po
  • Page 202V. MAINTENANC
  • Page 203
  • Page 204B-65222EN/03 MAINTENANCE 1.CHECKING EXTERNAL VIEW AND MOUNTING 1 CHECKING EXTERNAL VIEW AND MOUNTING The linear motor is an electric component. In particular, a flaw on the coil slider can degrade insulation, resulting in a failure. So, check the external view of the linear motor periodically for an
  • Page 2051.CHECKING EXTERNAL VIEW AND MOUNTING MAINTENANCE B-65222EN/03 1.1 COIL SLIDER Check the external view of the coil slider and maintain the coil slider as described below. Periodic checking of the external view Check the external view at least once in every month. By making a frequent check at short
  • Page 206B-65222EN/03 MAINTENANCE 1.CHECKING EXTERNAL VIEW AND MOUNTING Scratch on the surface (facing the magnet plate) Only when a scratch in question is as slight as the removal of a part of the black protective coating, the continued use of the coil slider is enabled by recoating the coil slider. For rec
  • Page 2071.CHECKING EXTERNAL VIEW AND MOUNTING MAINTENANCE B-65222EN/03 1.2 MAGNET PLATE Check the external view of the coil slider and maintain the coil slider as described below. Periodic checking of the external view Check the external view at least once in every month. By making a frequent check at short
  • Page 208B-65222EN/03 MAINTENANCE 1.CHECKING EXTERNAL VIEW AND MOUNTING 1.3 MAGNETIC POLE SENSOR (FOR AN INCREMENTAL SYSTEM) Check the external view of the coil slider and maintain the coil slider as described below. Periodic checking of the external view Check the external view at least once in every month.
  • Page 2092.CHECKING ELECTRIC CHARACTERISTICS MAINTENANCE B-65222EN/03 2 CHECKING ELECTRIC CHARACTERISTICS The linear motor is an electronic component, and has a life as with other ordinary electric components. Depending on the environment in which a linear motor is used, the insulation performance degrades a
  • Page 210B-65222EN/03 MAINTENANCE 2.CHECKING ELECTRIC CHARACTERISTICS 2.1 CHECKING INSULATION RESISTANCE 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 Judgmen
  • Page 2112.CHECKING ELECTRIC CHARACTERISTICS MAINTENANCE B-65222EN/03 2.2 CHECKING WINDING RESISTANCE By using a milliohm meter, make a winding resistance measurement as described below. Insulate those terminals that are not used for measurement. For winding resistance values, see Part I, "SPECIFICATIONS". -
  • Page 212B-65222EN/03 MAINTENANCE 3.CLEANING 3 CLEANING WARNING When performing cleaning, turn off the power to the machine, ensure that the motor does not move freely, and be careful not to be electrically shocked. Reasons for cleaning The linear motor has a gap of 0.5 mm (nominal) between the coil slider a
  • Page 213
  • Page 214APPENDI
  • Page 215
  • Page 216B-65222EN/03 APPENDIX A.ORDERING DRAWING NUMBER A ORDERING DRAWING NUMBER NOTE When placing a formal order, refer to "FANUC LINEAR MOTOR series Ordering List (B-65221EN)". For details including the specifications, dimensions, and applicable amplifiers, see Part I, "SPECIFICATIONS". Model Magnetic po
  • Page 217B.OPERATION THEORY OF THE LINEAR MOTOR APPENDIX B-65222EN/03 B OPERATION THEORY OF THE LINEAR MOTOR The FANUC LINEAR MOTOR series uses a linear encoder for a motor position signal. The linear motor is controlled using only this signal. If a linear encoder is mounted or set incorrectly, the linear mo
  • Page 218B-65222EN/03 APPENDIX B.OPERATION THEORY OF THE LINEAR MOTOR B.1 OPERATION THEORY OF THE LINEAR MOTOR (OVERVIEW) The linear motor viewed from the side is outlined in the illustration below. I'm wondering what Linear encoder level of current should flow for which phase. Coil slider U V W Magnetic pol
  • Page 219B.OPERATION THEORY OF THE LINEAR MOTOR APPENDIX B-65222EN/03 precision of the motor can degrade. To compensate for this current phase shift, the AMR offset parameter is used. With this parameter, the position of zero-degree electric angle of the motor (exciting phase from phase U) and the reference
  • Page 220B-65222EN/03 APPENDIX B.OPERATION THEORY OF THE LINEAR MOTOR B.2 ROLE OF THE MAGNETIC POLE SENSOR When an incremental linear encoder is used, line motor axis operation is initially in a special state. So, a magnetic pole sensor is needed. The role of a magnetic pole sensor used with an incremental l
  • Page 221B.OPERATION THEORY OF THE LINEAR MOTOR APPENDIX B-65222EN/03 NOTE 1 Even after the reference position of a linear encoder is detected, and current control is switched to the linear encoder, the signal from the Magnetic pole sensor is used to check the linear encoder for an error. So, even after the
  • Page 222B-65222EN/03 APPENDIX C.MAGNET PLATE SURFACE PROTECTION C MAGNET PLATE SURFACE PROTECTION As shown below, the magnet side of a magnet plate (that faces the coil slider) is completely coated with epoxy resin selected to endure a severe use environment. Magnet Epoxy resin Iron plate (bottom) Cross sec
  • Page 223D.DRIVING THE LINEAR MOTOR WITH THE αi SERIES AMPLIFIER APPENDIX B-65222EN/03 D DRIVING THE LINEAR MOTOR WITH THE αi SERIES AMPLIFIER The FANUC Linear Motor series is driven with the latest αi series amplifier as with the α series amplifier. However, because of the addition and discontinuation of am
  • Page 224B-65222EN/03 INDEX INDEX Absolute Linear Encoder Mounting Position ............... 101 Example of Configuration......................................... 54, 56 ABSOLUTE LINEAR ENCODER SYSTEM................ 56 Example of Selection ...................................................... 79 Amo
  • Page 225INDEX B-65222EN/03 MOTOR ARRANGEMENT AND DRIVING METHODS57 MOTOR HEAT-UP AND COOLING.......................... 111 Required Maximum Force .............................................. 64 MOUNTING A COOLING PLATE AND CONNECTING ROLE OF THE MAGNETIC POLE SENSOR ............ 199 A COOLING TUBE....
  • Page 226Revision Record FANUC LINEAR MOTOR series DESCRIPTIONS (B-65222EN) 03 Jun., 2001 Total revision 02 Jun., 1998 Total revision 01 Dec., 1996 Edition Date Contents Edition Date Contents
  • Page 227EUROPEAN HEADQUARTERS GRAND-DUCHE DE LUXEMBOURG GE Fanuc Automation Europe S.A. Zone Industrielle L-6468 Echternach (+352) 727979 - 1  (+352) 727979 – 214 www.gefanuc-europe.com BELGIUM / NETHERLANDS CZECH REPUBLIC FRANCE GE Fanuc Automation Europe S.A. GE Fanuc Automation CR s.r.o. GE Fanuc Automa
  • Page 228Printed at GE Fanuc Automation S.A. , Luxembourg June 200
  • Page 229TECHNICAL REPORT (MANUAL) No. TMS 01/024E Date. 13. July 2001 General Manager of Servo Laboratory Change of PE line color of the small force linear motors. 1. Communicate this report to: Your information GE Fanuc-N, GE Fanuc-E FANUC Robotics MILACRON Machine tool builder Sales agency End user 2. Sum
  • Page 230Change of PE line color of the small force linear motors 1. Type of applied technical documents Name FANUC LINEAR MOTOR series DESCRIPTIONS Spec. No. / Ver. B-65222EN/03 2. Summary of change New, Add, Applicable Data Group Name / Outline Correct, Delete Basic Function Optional Function Unit Maintena
  • Page 2311. Scope The wire color of PE line is changed from green to green/yellow. The new PE line is the same material as the current wire. < Colors of motor lines of small force linear motor> Current New U-phase Red Red V-phase White White W-phase Black Black Ground (PE) Green Green/Yellow Since the altera
  • Page 232External dimensions Model 300D/4 (A06B-0421-B801) Conductor cross Average outside Line type Sheath color section (mm2) diameter (mm) Power line (U phase) Red 2.0 2.6 Power line (V phase) White 2.0 2.6 Power line (W phase) Black 2.0 2.6 Power line (ground) Green/Yellow 2.0 2.6 Thermostat line 1 Black
  • Page 233Model 600D/4 (A06B-0422-B801) Conductor cross Average outside Line type Sheath color section (mm2) diameter (mm) Power line (U phase) Red 2.0 2.6 Power line (V phase) White 2.0 2.6 Power line (W phase) Black 2.0 2.6 Power line (ground) Green/Yellow 2.0 2.6 Thermostat line 1 Black 0.35 1.28 Thermosta
  • Page 234Model 900D/4 (A06B-0423-B801) Conductor cross Average outside Line type Sheath color section (mm2) diameter (mm) Power line (U phase) Red 2.0 2.6 Power line (V phase) White 2.0 2.6 Power line (W phase) Black 2.0 2.6 Power line (ground) Green/Yellow 2.0 2.6 Thermostat line 1 Black 0.35 1.28 Thermosta
  • Page 235Power line and thermostat line connection (Excerpt) 3.3.1 300D/4, 600D/4, and 900D/4 From the coil slider, six lines are directly extended: four power lead lines and two thermostat lines. The table below indicates the specifications of the lines. Conductor cross Average outside Line type Sheath colo
  • Page 236TECHNICAL REPORT (MANUAL) No. TMS01/038E Date. 5. Oct. 2001 General Manager of Servo Laboratory Correction of “Cables usable for power lines”, etc. 1. Communicate this report to: Your information GE Fanuc-N, GE Fanuc-E FANUC Robotics MILACRON Machine tool builder Sales agency End user 2. Summary for
  • Page 237Correction of “Cables usable for power lines”, etc. 1. Type of applied technical documents Name FANUC LINEAR MOTOR series DESCRIPTIONS Spec. No. / Ver. B-65222EN/03 2. Summary of change New, Add, Applicable Group Name / Outline Correct, Data Delete Basic Function Optional Function Unit Maintenance P
  • Page 2381. Outline Errors concerning to applicable lead wire for 9000B and 15000C are corrected. And other errors are also corrected. 2. Corrections Ø Page 39, Line 1 (Title) and Page 40, Line 1 (Title) [Wrong] External thread [Correct] Internal thread Ø Page 81, Explanation of “- Maximum cutting duty ratio
  • Page 239Ø Page 109, GROUND LINE CONNECTION Shield for power leads should be added. Separate the ground bar for the power leads from the ground bar for the feedback shield. Ø Page 136, Cables usable for power lines Nominal Cable Model AWG cross-section diameter area (mm 2) 3000B/2, 3000B/4 UL1015 6000B/2, 60
  • Page 240TECHNICAL REPORT (MANUAL) No. TMS02/021E Date 10. May. 2002 General Manager of Servo Laboratory FANUC LINEAR MOTOR series DESCRIPTIONS（Linear Motor Position Detection Circuit H） 1. Communicate this report to: Your information only ○ (RD,YD,POD and SBAR are also included.) ○ GE Fanuc-N, GE Fanuc-E FA
  • Page 241Linear Motor Position Detection Circuit H (Incremental) 1. Type of applied technical documents Name FANUC LINEAR MOTOR series DESCRIPTIONS Spec. No. / Version B-65222EN/03 2. Summary of Change Group Name / Outline New, Add, Applicable Correct, Delete Data Basic The circuit which interpolates analog
  • Page 242３．GENERAL In this manual, specifications and connection diagrams for Linear Motor Position Detection Circuit H, are described. ４．BLOCK DIAGRAM K6 Over heat signal K3 CNC Servo Linear Motor Pole Sensor Amp. Linear Motor Position Magnet Plate Moving Detection Circuit H FSSB Slider K4 K2 K5 Linear Enco
  • Page 243(3)Alarm detection function for CMAL（Count Miss Alarm） and setting pin “SW1” This circuit has a function of detecting CMAL (Count Miss Alarm), by checking position data and reference signal. CMAL occurs when the data of the position data where the reference signal is detected is different from the p
  • Page 244(6)A860-0333-T20□ (6)-1 Input specifications A/B(type Ⅰ) VB a/2 TZ,LZ VXA,VXB a VA Ｚ a/2 c/2 Usable component VOA,VOB VOZ c/2 c 0V A/B（typeⅡ） 0V VB VA b/2 b VXA b/2 VXB VOA,VOXA 0V VOB,VOXB Item Symbol Specification Unit Min. Typ. Max. Amplitude typeⅠ a of A,B phase 0.6 1.0 1.5 VP-P (A/B phase） type
  • Page 245(6)-2 Available Linear Encoders(Analog signal output type) Encoder Maker Encoder pitch of Maximum Scale Length Name signal(μm) Velocity(m/min.) (mm) HEIDENHAIN LS486 20 120 70∼ 2040 HEIDENHAIN LS186 20 120 240∼ 3040 HEIDENHAIN LB382 100 120 440∼30040 HEIDENHAIN LF183 4 48 140∼ 3040 HEIDENHAIN LF481R
  • Page 246６.CONNECTION DIAGRAM (1)-a Cable K2(A860-0333-T201:One Serial Data Output) Servo Amplifier Linear Motor Position Detection Circuit H (As for the connection of Servo Amplifire side, SD1 (3) refer the manual of Descriptions of Servo Amplifire) XSD1 (4) REQ (1) XREQ (2) 0V (9),(10),(11) 5V (12),(13),(1
  • Page 247(1)-b Cable K2 (A860-0333-T002 : Two Serial Data Outputs) Servo Amplifier Linear Motor Position Detection Circuit H (As for the connection of Servo Amplifire side, refer the manual of SD1 (3) Descriptions of Servo Amplifire) XSD1 (4) REQ (1) XREQ (2) Axis(2N-1) 0V (9),(10),(11) (DSP N) 5V (12),(13),
  • Page 248(2) Cable Ｋ４ Linear Motor Linear Motor Position Detection Pole Sensor Circuit H (1) CA (1) (2) XCA (2) (3) CB (3) (4) XCB (4) (5),(6) 0V (5),(6) (7),(8) 5V (7),(8) (9) SHIELD (9) HIROSE RM15WTP-10S-(9) HIROSE RM15WTP-10S-(9) Recommended wire 5V,0V ・・・・・・・・・0.5mm2×2 or more CA,XCA,CB,XCB・・・・0.18mm2 R
  • Page 249(3)Cable K5 Linear Linear Motor Position Detection Encoder Circuit H A (5) XA (6) B (7) XB (8) Z (9) XZ (10) 0V (3),(4) 5V (1),(2) SHIELD (11) HIROSE RM15WTP-12P-(dia) Use wire which is specified by linear encoder maker. Designate “dia” [mm] of the connector, according to the diameter of the cable w
  • Page 250(4)Cable length design Design the length of cables as the sum of voltage drop by K2 and K4 becomes 0.2V or less, and the sum of voltage drop by K2 and K5 becomes 0.2V or less. Note that voltage drop of K2 is caused by the total current consumption of Linear Motor Position Detection Circuit, Linear M
  • Page 251８. EXTERNAL DIMENSIONS Title FANUC LINEAR MOTOR series DESCRIPTIONS (Detector) Draw. No. B-65222EN/03-003 01 02.05.13 KIKUCHI Sheet Edit. Date Desig. Description FANUC LTD 11／16
  • Page 252９. SETTING PINS AND CHECK PINS Setting pin “SW1” Setting pin “SW2” “A” setting: “A” setting: CMAL function, by checking For analog reference signal position data and reference input. signal, is valid. “B” setting “B” setting For digital reference signal Above function is invalid. input. Setting pin
  • Page 25310. PARAMETER SETTING Series and editions of applicable servo software : 90B0 / 09 and subsequent editions #7 #6 #5 #4 #3 #2 #1 #0 2274(FS16i) HP2048 2687 (FS15i) HP2048(#0) Linear Motor Position Detection Circuit H : 0：Unavailable （512 times） 1：Available （2,048 times） (Note) l When you set this par
  • Page 254TECHNICAL REPORT(MANUAL) ＮＯ．ＴＭS ０２／ 19 Date 10. May. 2002 General Manager of Servo Laboratory FANUC LINEAR MOTOR series DESCRIPTIONS（Linear Motor Position Detection Circuit C） 1. Communicate this report to: Your information only ○ (RD,YD,POD and SBAR are also included.) ○ GE Fanuc-N, GE Fanuc-E FANU
  • Page 255Linear Motor Position Detection Circuit C 1. Type of applied technical documents Name FANUC LINEAR MOTOR series DESCRIPTIONS Spec. No. / Version B-65222EN/03 2. Summary of Change New, Add, Group Name / Outline Applicable Correct, Delete Data Basic For Heidenhain’s Linear Encoder Add Function with Di
  • Page 256３．General In this manual, specifications, connection diagrams, and the attaching method of linear encoder for Linear Motor Position Detection Circuit C are described. ４．Block Diagram K6 Servo K3 OH Amp. Linear Motor Magnetic Pole Sensor Linear Motor Position Magnet Plate Moving Detection Circuit C K
  • Page 257(4) Input specifications and the example of available linear encoders (4)-1 Input specifications A/B(typeⅠ) VB a/2 TZ,LZ VXA,VXB a VA Ｚ a/2 c/2 Usable component VOA,VOB VOZ c/2 c 0V A/B（typeⅡ） 0V VB VA b/2 b VXA b/2 VXB VOA,VOXA 0V VOB,VOXB Item Symbol Specification Unit Min. Typ. Max. Amplitude typ
  • Page 258(4)-2 Available Linear Encoders with Distance-coded Reference Marks (Analog signal output type) Encoder Maker Encoder pitch of Maximum Scale Length Name signal(μm) Velocity(m/min.) (mm) HEIDENHAIN LS186C 20 120 140∼3040 LS486C 70∼2040 HEIDENHAIN LF183C 4 60 140∼3040 LF481C 50∼1220 LIP581C 70∼1440 LI
  • Page 259６.Connection Diagram (1)-a Cable K2(A860-0333-T301：One Serial Data Output) Linear Motor ＣＮＣ Position Detection Circuit C SD1 (3) (As for the connection XSD1 (4) of CNC side, refer the REQ (1) manual of of each CNC) XREQ (2) 0V (9),(10),(11) 5V (12),(13),(14) SHIELD (15) Connect to Earth Bar HIROSE R
  • Page 260(1)-b Cable K2 (A860-0333-T302 ：Two Serial Data Outputs) Linear Motor ＣＮＣ Position Detection Circuit C (As for the SD1 (3) connection of CNC side, XSD1 (4) refer the manual of REQ (1) each CNC) XREQ (2) Axis(2N-1) 0V (9),(10),(11) (DSP N) 5V (12),(13),(14) SHIELD (15) Connect to Earth Bar SD2 (5) Ax
  • Page 261(2) Cable K4 Linear Motor Linear Motor Position Detection Pole Sensor Circuit C (1) CA (1) (2) XCA (2) (3) CB (3) (4) XCB (4) (5),(6) 0V (5),(6) (7),(8) 5V (7),(8) (9) SHIELD (9) HIROSE RM15WTP-10S-(9) HIROSE RM15WTP-10S-(9) Recommended wire 5V,0V ： 0.5mm2×2 or more CA,XCA,CB,XCB ： 0.18mm2 Recommend
  • Page 262(3)Cable K5 Linear Linear Motor Position Detection Encoder Circuit C A (5) XA (6) B (7) XB (8) Z (9) XZ (10) 0V (3),(4) 5V (1),(2) SHIELD (11) HIROSE RM15WTP-12P-(dia) Use wire which is specified by linear encoder maker. Designate “dia” [mm] of the connector, according to the diameter of the cable w
  • Page 263(4)Cable Length Design Design the length of cables as the sum of voltage drop by K2 and K4 becomes 0.2V or less, and the sum of voltage drop by K2 and K5 becomes 0.2V or less. Note that voltage drop of K2 is caused by the total current consumption of Linear Motor Position Detection Circuit C, Linear
  • Page 264７．Attachment Method of Linear Encoder with distance-coded reference marks When the position relationship of linear motor moving slider, magnet plate and linear motor magnetic pole sensor are the conditions indicated by the attachment method in Linear Motor Descriptions（B-65222EN）, the linear scale w
  • Page 265８．External Dimensions Title FANUC LINEAR MOTOR series DESCRIPTIONS Draw. No. B-65222EN/03-004 01 02.05.10 Miyamoto Sheet Edit. Date Desig. Description FANUC LTD 11／13
  • Page 266９．Setting Switches and Check Pins PCN4 SW1 SW2 SW3 SW4 SW5 SW6 SW7 SW8 SW Functions Settings Setting at shipment SW1 Not used A(Default) A SW2 Reference signal input A Analog A B Digital SW3 PMAL by checking between the pos- A Valid A tion data and the calculated one B Invalid SW4 For Distance-coded
  • Page 267１０．Parameter Setting Series and editions of applicable servo software : 90B0 / 09 and subsequent editions #7 #6 #5 #4 #3 #2 #1 #0 2274(FS16i) HP2048 2687 (FS15i) HP2048(#0) Linear Motor Position Detection Circuit C : 0：Unavailable （512 times） 1：Available （2,048 times） (Note) l When you set this para
  • Page 268TECHNICAL REPORT (MANUAL) NO. TMS03/014E Date: May 2, 2003 General Manager of Servo Laboratory FANUC LINEAR MOTOR series DESCRIPTION (Linear Motor Position Detection Circuit H) 1. Distribute this report to the destinations marked with ○: ○ Your information ○ GE Fanuc-N, GE Fanuc-E Fanuc Robotics-NA,
  • Page 269Linear Motor Position Detection Circuit H (Incremental) 1. Type of applied technical documents Name FANUC LINEAR MOTOR series DESCRIPTIONS Spec. No. / Version B-65222EN/03 2. Summary of Change New, Add, Group Name / Outline Applicable Correct, Delete Data Basic For Input Frequency 750kHz Add Functio
  • Page 2703. GENERAL In this manual, specifications and connection diagrams for Linear Motor Position Detection Circuit H, are described. 4. BLOCK DIAGRAM K6 Over heat signal K3 CNC Servo Linear Motor Pole Sensor Amp. Linear Motor Position Magnet Plate Moving Detection Circuit H FSSB Slider K4 K2 K5 Linear En
  • Page 271(3) Alarm detection function for CMAL（Count Miss Alarm） and setting pin “SW1” This circuit has a function of detecting CMAL (Count Miss Alarm), by checking position data and reference signal. CMAL occurs when the data of the position data where the reference signal is detected is different from the
  • Page 272(6) A860-0333-T20□ (6) -1 Input specifications A/B (type I) VB a/2 TZ,LZ VXA,VXB a VA Ｚ a/2 c/2 Usable component VOA,VOB VOZ c/2 c 0V A/B（typeⅡ） 0V VB VA b/2 b VXA b/2 VXB VOA,VOXA 0V VOB,VOXB Specification Item Symbol Unit Min. Typ. Max. Type I : a of A,B phase Amplitude Type II : b of A phase+b of
  • Page 273(6)-2 Available Linear Encoders (Analog signal output type) Encoder Maker Encoder pitch of Maximum Scale Length Name signal[um] Velocity [m/min.] [mm] HEIDENHAIN LS486 20 120 70 ~ 2040 HEIDENHAIN LS186 20 120 240 ~ 3040 HEIDENHAIN LB382 100 120 440 ~ 30040 HEIDENHAIN LF183 4 48 140 ~ 3040 HEIDENHAIN
  • Page 2746. CONNECTION DIAGRAM (1) -a Cable K2 (A860-0333-T201: One Serial Data Output) Servo Amplifier Linear Motor Position Detection Circuit H (As for the connection of Servo Amplifier side, SD1 (3) refer the manual of Descriptions of Servo Amplifier) XSD1 (4) REQ (1) XREQ (2) 0V (9),(10),(11) 5V (12),(13
  • Page 275(1) -b Cable K2 (A860-0333-T002 : Two Serial Data Outputs) Servo Amplifier Linear Motor Position Detection Circuit H (As for the connection of Servo Amplifier side, refer the manual of SD1 (3) Descriptions of Servo Amplifier) XSD1 (4) REQ (1) XREQ (2) Axis(2N-1) 0V (9),(10),(11) (DSP N) 5V (12),(13)
  • Page 276(2) Cable Ｋ4 Linear Motor Linear Motor Position Detection Pole Sensor Circuit H (1) CA (1) (2) XCA (2) (3) CB (3) (4) XCB (4) (5),(6) 0V (5),(6) (7),(8) 5V (7),(8) (9) SHIELD (9) HIROSE RM15WTP-10S-(9) HIROSE RM15WTP-10S-(9) Recommended wire 5V, 0V 0.5mm2 x 2 or more CA, XCA, CB, XCB 0.18mm2 Recomme
  • Page 277(3) Cable K5 Linear Linear Motor Position Detection Encoder Circuit H A (5) XA (6) B (7) XB (8) Z (9) XZ (10) 0V (3),(4) 5V (1),(2) SHIELD (11) HIROSE RM15WTP-12P-(dia) Use wire which is specified by linear encoder maker. Designate “dia” [mm] of the connector, according to the diameter of the cable
  • Page 278(4) Cable length design Design the length of cables as the sum of voltage drop by K2 and K4 becomes 0.2V or less, and the sum of voltage drop by K2 and K5 becomes 0.2V or less. Note that voltage drop of K2 is caused by the total current consumption of Linear Motor Position Detection Circuit, Linear
  • Page 2798. EXTERNAL DIMENSIONS Title FANUC LINEAR MOTOR series DESCRIPTIONS (Detector) Draw. No. B-65222EN/03-005 01 02.05.13 Kikuchi Taniguchi Sheet Edit. Date Desig. Description FANUC LTD 11／15
  • Page 2809. SETTING PINS AND CHECK PINS Setting pin “SW1” Setting pin “SW2” “A” setting: “A” setting: CMAL function, by checking For analog reference signal position data and reference input. signal, is valid. “B” setting “B” setting For digital reference signal Above function is invalid. input. Setting pin
  • Page 28110. PARAMETER SETTING Series and editions of applicable servo software : 90B0 / 17 and subsequent editions #7 #6 #5 #4 #3 #2 #1 #0 2274(FS16i) HP2048 2687 (FS15i) HP2048(#0) Linear Motor Position Detection Circuit H : 0：Unavailable (512 times) 1：Available (2,048 times) (SW3 : “B” setting) (Note) Thi
  • Page 28211. FOR INPUT FREQUENCY 750kHz (1) Setting Pin SW3 “A” setting (512 times interpolation) Cannot use “B” setting (2048 times interpolation) for Input Frequency 750kHz. (2) Parameter Setting Series and editions of applicable servo software : 90B0 / 17 and subsequent editions #7 #6 #5 #4 #3 #2 #1 #0 22
  • Page 283Parameters Parameter No. Conversion of Parameters FS15 i FS16 i etc. Integral Gain PK1V 1855 2043 (primary setting value) /6 (1) Proportional Gain PK2V 1856 2044 (primary setting value) /6 (1) Observer POA1 1859 2047 (primary setting value) x 6 (2) Dead-band PPMAX 1865 2053 (primary setting value) x
  • Page 284TECHNICAL REPORT (MANUAL) NO. TMS02/043E Date: December 17, 2002 General Manager of Servo Laboratory FANUC LINEAR MOTOR series DESCRIPTION (Linear Motor Position Detection Circuit C) 1. Distribute this report to the destinations marked with O: O Your information O GE Fanuc-N, GE Fanuc-E Fanuc Roboti
  • Page 285Linear Motor Position Detection Circuit C 1. Type of applied technical documents Name FANUC LINEAR MOTOR series DESCRIPTIONS Spec. No. / Version B-65222EN/03 2. Summary of Change Group Name / Outline New, Add, Applicable Correct, Delete Data Basic Edition of Corresponded Servo Software Correct Funct
  • Page 2863. General In this manual, specifications, connection diagrams, and the attaching method of linear encoder for Linear Motor Position Detection Circuit C are described. 4. Block Diagram K6 K3 Servo OH Amp. Linear Motor Magnetic Pole Sensor Linear Motor Position Magnet Plate Moving Detection Circuit C
  • Page 287(4) Input specifications and the example of available linear encoders (4)-1 Input specifications A/B (type I) VB a/2 TZ,LZ VXA,VXB a VA Z a/2 c/2 Usable component VOA,VOB VOZ c/2 c 0V A/B (type II) 0V VB VA b/2 b VXA b/2 VXB VOA,VOXA 0V VOB,VOXB Specification Item Symbol Unit Min. Typ. Max. Type I a
  • Page 288(4)-2 Available Linear Encoders with Distance-coded Reference Marks (Analog signal output type) Pitch of Maximum Encoder Scale Length Encoder Maker Signal Velocity Name [mm] [um] [m/min] Heidenhain LS186C 20 120 140 ∼ 3040 LS486C 70 ∼ 2040 LF183C 4 60 140 ∼ 3040 LF481C 50 ∼ 1220 LIP581C 70 ∼ 1440 LI
  • Page 2896. Connection Diagram (1)-a Cable K2 (A860-0333-T301: One Serial Data Output) CNC Linear Motor Position Detection Circuit C SD1 (3) (As for the connection XSD1 (4) of CNC side, refer the REQ (1) manual of of each CNC) XREQ (2) 0V (9),(10),(11) 5V (12),(13),(14) SHIELD (15) Connect to Earth Bar HIROS
  • Page 290(1)-b Cable K2 (A860-0333-T302 : Two Serial Data Outputs) CNC Linear Motor Position Detection Circuit C (As for the SD1 (3) connection of CNC side, XSD1 (4) refer the manual of REQ (1) each CNC) XREQ (2) Axis (2N-1) 0V (9),(10),(11) (DSP N) 5V (12),(13),(14) SHIELD (15) Connect to Earth Bar SD2 (5)
  • Page 291(2) Cable K4 Linear Motor Linear Motor Position Detection Pole Sensor Circuit C (1) CA (1) (2) XCA (2) (3) CB (3) (4) XCB (4) (5),(6) 0V (5),(6) (7),(8) 5V (7),(8) (9) SHIELD (9) HIROSE RM15WTP-10S-(9) HIROSE RM15WTP-10S-(9) Recommended wire 5V,0V : 0.5mm2 x 2 or more CA, XCA, CB, XCB : 0.18mm2 Reco
  • Page 292(3)Cable K5 Linear Linear Motor Position Detection Encoder Circuit C A (5) XA (6) B (7) XB (8) Z (9) XZ (10) 0V (3),(4) 5V (1),(2) SHIELD (11) HIROSE RM15WTP-12P-(dia) Use wire which is specified by linear encoder maker. Designate “dia” [mm] of the connector, according to the diameter of the cable w
  • Page 293(4)Cable Length Design Design the length of cables as the sum of voltage drop by K2 and K4 becomes 0.2V or less, and the sum of voltage drop by K2 and K5 becomes 0.2V or less. Note that voltage drop of K2 is caused by the total current consumption of Linear Motor Position Detection Circuit C, Linear
  • Page 2947. Attachment Method of Linear Encoder with distance-coded reference marks When the position relationship of linear motor moving slider, magnet plate and linear motor magnetic pole sensor are the conditions indicated by the attachment method in Linear Motor Descriptions (B-65222EN), the linear scale
  • Page 2958. External Dimensions Title FANUC LINEAR MOTOR series DESCRIPTIONS Draw. No. B-65222EN/03-006 01 02.05.10 Miyamoto Taniguchi Sheet Edit. Date Desig. Description FANUC LTD 11/ 13
  • Page 2969. Setting Switches and Check Pins PCN4 SW1 SW2 SW3 SW4 SW5 SW6 SW7 SW8 SW Functions Settings Setting at shipment SW1 Not used A(Default) A A Analog SW2 Reference signal input A B Digital PMAL by checking between the pos- A Valid SW3 A tion data and the calculated one B Invalid A Valid SW4 For Dista
  • Page 29710. Parameter Setting Series and editions of applicable servo software : 90B0 / 17 and subsequent editions #7 #6 #5 #4 #3 #2 #1 #0 2274(FS16i) HP2048 2687 (FS15i) HP2048(#0) = 1 (Linear Motor Position Detection Circuit C is available.) (Note) l When you set this parameter, setting values of the foll
  • Page 298TECHNICAL REPORT (MANUAL) NO. TMS03/015E Date May 2, 2003 General Manager of Servo Laboratory FANUC LINEAR MOTOR series DESCRIPTION (Linear Motor Position Detection Circuit C) 1. Distribute this report to the destinations marked with ○: ○ Your information ○ GE Fanuc-N, GE Fanuc-E Fanuc Robotics-NA,
  • Page 299Linear Motor Position Detection Circuit C 1. Type of applied technical documents Name FANUC LINEAR MOTOR series DESCRIPTIONS Spec. No. / Version B-65222EN/03 2. Summary of Change New, Add, Group Name / Outline Applicable Correct, Delete Data Basic Cable K2 Connection Specification Correct Function O
  • Page 3003. General In this manual, specifications, connection diagrams, and the attaching method of linear encoder for Linear Motor Position Detection Circuit C are described. 4. Block Diagram K6 K3 OH Linear Motor Magnetic Pole Sensor Linear Motor Position Servo Moving Detection Circuit C FSSB Magnet Plate
  • Page 301(4) Input specifications and the example of available linear encoders (4)-1 Input specifications A/B(typeⅠ) VB a/2 TZ,LZ VXA,VXB a VA Ｚ a/2 c/2 Usable component VOA,VOB VOZ c/2 c 0V A/B（typeⅡ） 0V VB VA b/2 b VXA b/2 VXB VOA,VOXA 0V VOB,VOXB Item Symbol Specification Unit Min. Typ. Max. Amplitude typ
  • Page 302(4)-2 Available Linear Encoders with Distance-coded Reference Marks (Analog signal output type) Encoder Maker Encoder Pitch of Maximum Scale Length Name Signal Velocity [mm] [um] [m/min] Heidenhain LS186C 20 120 140～ 3040 LS486C 70～ 2040 LF183C 4 60 140～ 3040 LF481C 50～ 1220 LIP581C 70～ 1440 LIF181C
  • Page 3036. Connection Diagram (1)-a Cable K2(A860-0333-T301：One Serial Data Output) Linear Motor Servo Position Detection Amplifier Circuit C SD1 (3) (As for the connection XSD1 (4) of Servo Amplifier side, REQ (1) refer the manual of XREQ (2) of each Servo Amplifier) 0V (9),(10),(11) 5V (12),(13),(14) SHIE
  • Page 304(1)-b Cable K2 (A860-0333-T302 ：Two Serial Data Outputs) Linear Motor Servo Position Detection Amplifier Circuit C (As for the SD1 (3) connection of Servo XSD1 (4) Amplifier side, refer the REQ (1) manual of each Servo XREQ (2) Amplifier) 0V (9),(10),(11) Axis(2N-1) 5V (12),(13),(14) (DSP N) SHIELD
  • Page 305(2) Cable K4 Linear Motor Linear Motor Position Detection Pole Sensor Circuit C (1) CA (1) (2) XCA (2) (3) CB (3) (4) XCB (4) (5),(6) 0V (5),(6) (7),(8) 5V (7),(8) (9) SHIELD (9) HIROSE RM15WTP-10S-(9) HIROSE RM15WTP-10S-(9) Recommended wire 5V,0V ： 0.5mm2×2 or more CA,XCA,CB,XCB ： 0.18mm2 Recommend
  • Page 306(3) Cable K5 Linear Linear Motor Position Detection Encoder Circuit C A (5) XA (6) B (7) XB (8) Z (9) XZ (10) 0V (3),(4) 5V (1),(2) SHIELD (11) HIROSE RM15WTP-12P-(dia) Use wire which is specified by linear encoder maker. Designate “dia” [mm] of the connector, according to the diameter of the cable
  • Page 307(4) Cable Length Design Design the length of cables as the sum of voltage drop by K2 and K4 becomes 0.2V or less, and the sum of voltage drop by K2 and K5 becomes 0.2V or less. Note that voltage drop of K2 is caused by the total current consumption of Linear Motor Position Detection Circuit C, Linea
  • Page 3087. Attachment Method of Linear Encoder with distance-coded reference marks When the position relationship of linear motor moving slider, magnet plate and linear motor magnetic pole sensor are the conditions indicated by the attachment method in Linear Motor Descriptions（B-65222EN）, the linear scale
  • Page 3098. External Dimensions Title FANUC LINEAR MOTOR series DESCRIPTIONS Draw. No. B-65222EN/03-007 01 02.05.10 Miyamoto Taniguchi Sheet Edit. Date Desig. Description FANUC LTD 11／13
  • Page 3109. Setting Switches and Check Pins PCN4 SW1 SW2 SW3 SW4 SW5 SW6 SW7 SW8 SW Functions Settings Setting at shipment SW1 Not used A(Default) A SW2 Reference signal input A Analog A B Digital SW3 PMAL by checking between the pos- A Valid A tion data and the calculated one B Invalid SW4 For Distance-code
  • Page 31110. Parameter Setting Series and editions of applicable servo software : 90B0 / 17 and subsequent editions #7 #6 #5 #4 #3 #2 #1 #0 2274(FS16i) HP2048 2687 (FS15i) HP2048(#0) = 1 (Linear Motor Position Detection Circuit C is available.) (Note) This parameter is available only when you use Linear Moto
  • Page 312TECHNICAL REPORT (MANUAL) No. TMS03/039E Date: 30. Oct. 2003 General Manager of Servo Laboratory FANUC LINEAR MOTOR series Descriptions Additional information of feedback cable connection diagram 1. Communicate this report to: Your information GE Fanuc-N, GE Fanuc-E FANUC Robotics MILACRON Machine t
  • Page 313FANUC LINEAR MOTOR series Additional information of feedback cable connection diagram 1. Type of applied technical documents Name FANUC LINEAR MOTOR series DESCRIPTIONS Spec. No. / Ver. B-65222EN/03 2. Summary of change New, Add, Applicable Data Group Name / Outline Correct, Delete Basic Function Op
  • Page 3141. Outline New information of feedback connection diagram concerning shield (drain wire) connection is added. Replace the diagrams by shown below. 2. Addition (Replacement) 2.5.2 Cable K2 (for Position Detection Circuit A860-0333-T001) FANUC LINEAR MOTOR series TITLE Additional information of feedba
  • Page 3152.5.3 Cable K2 (for Position Detection Circuit A860-0333-T002) FANUC LINEAR MOTOR series TITLE Additional information of feedback cable connection diagram DRAW. No. B-65222EN/03-008 01 03.10.27 T.Tamai Addition (Replace) EDIT DATE DESIGN DESCRIPTION FANUC LTD Page 3/3
  • Page 316The description shown below should be added. 2.5.6.1 Cable for third party encoder with FANUC Serial Interface Note1 1 Earth plate shall be installed close to the servo amplifier. Distance between sevo amplifier and the earth plate shall be as short as possible. 2 Please prepare the cable by custome