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The CNC Applic. For Heidenhain's absolute encoder (A-56731E-0083) Additional Manual Page 2

Additional Manual
The CNC application for
HEIDENHAIN’s absolute encoder
1／3
FANUC LTD
A－56731E－0083
DescriptionDesig.DateEdit.
01 97.12.2 H.Kikuchi New
Sheet
Draw. No.
Title
02 98.12.4 H.Kikuchi Type of encoder is added.
The
The The
The CNC application for HEIDENHAIN
CNC application for HEIDENHAINCNC application for HEIDENHAIN
CNC application for HEIDENHAIN’
’’
’s absolute encoder
s absolute encoders absolute encoder
s absolute encoder
HEIDENHAIN have absolute encoders which are the A/B phase output type
HEIDENHAIN have absolute encoders which are the A/B phase output type HEIDENHAIN have absolute encoders which are the A/B phase output type
HEIDENHAIN have absolute encoders which are the A/B phase output type with
withwith
with
distance-coded-reference marks and the serial output type with FANUC serial
distance-coded-reference marks and the serial output type with FANUC serialdistance-coded-reference marks and the serial output type with FANUC serial
distance-coded-reference marks and the serial output type with FANUC serial
interface. We can use
interface. We can use interface. We can use
interface. We can use t
tt
the CNC with these encoders as follows.
he CNC with these encoders as follows.he CNC with these encoders as follows.
he CNC with these encoders as follows.
1.
1.1.
1. CNC hardware series and software versions for the A/B phase output type
CNC hardware series and software versions for the A/B phase output type CNC hardware series and software versions for the A/B phase output type
CNC hardware series and software versions for the A/B phase output type with
withwith
with
distance-coded-reference marks.
distance-coded-reference marks.distance-coded-reference marks.
distance-coded-reference marks.
1.1 CNC hardware
1.1 CNC hardware1.1 CNC hardware
1.1 CNC hardware
FS15B, FS16B, FS18B, FS16C, FS18C, FS16
FS15B, FS16B, FS18B, FS16C, FS18C, FS16 FS15B, FS16B, FS18B, FS16C, FS18C, FS16
FS15B, FS16B, FS18B, FS16C, FS18C, FS16ｉ
ｉｉ
ｉ, FS18
, FS18, FS18
, FS18ｉ
ｉｉ
ｉ, FS21
, FS21, FS21
, FS21ｉ
ｉｉ
ｉ
Power Mate
Power Mate Power Mate
Power Mate－
－－
－D
DD
D，
，，
，Power Mate i
Power Mate iPower Mate i
Power Mate i－
－－
－D
DD
D，
，，
，Power Mate i
Power Mate iPower Mate i
Power Mate i－
－－
－H
HH
H
1.2
1.21.2
1.2 CNC software
CNC software CNC software
CNC software
CNC
CNCCNC
CNC Type of encoder
Type of encoderType of encoder
Type of encoder Series
SeriesSeries
Series－
－－
－Version
VersionVersion
Version
FS15
FS15FS15
FS15－
－－
－MB (CRT 9inches, with SUB CPU)
MB (CRT 9inches, with SUB CPU) MB (CRT 9inches, with SUB CPU)
MB (CRT 9inches, with SUB CPU) LINEAR
LINEARLINEAR
LINEAR AAD7
AAD7AAD7
AAD7－
－－
－05
05 05
05 ～
～～
～
FS15
FS15FS15
FS15－
－－
－MB (CRT 14inches, with SUB CPU)
MB (CRT 14inches, with SUB CPU)MB (CRT 14inches, with SUB CPU)
MB (CRT 14inches, with SUB CPU) LINEAR
LINEARLINEAR
LINEAR AAD8
AAD8AAD8
AAD8－
－－
－07
07 07
07 ～
～～
～
FS15
FS15FS15
FS15－
－－
－MB (CRT 9inches, for multiple axes)
MB (CRT 9inches, for multiple axes)MB (CRT 9inches, for multiple axes)
MB (CRT 9inches, for multiple axes) LINEAR
LINEARLINEAR
LINEAR A6D3
A6D3A6D3
A6D3－
－－
－06
06 06
06 ～
～～
～
FS15
FS15FS15
FS15－
－－
－MB (CRT 14inches, for multiple axes)
MB (CRT 14inches, for multiple axes)MB (CRT 14inches, for multiple axes)
MB (CRT 14inches, for multiple axes) LINEAR
LINEARLINEAR
LINEAR A6D4
A6D4A6D4
A6D4－
－－
－11
11 11
11 ～
～～
～
FS15
FS15FS15
FS15－
－－
－MFB (CRT 14inches )
MFB (CRT 14inches ) MFB (CRT 14inches )
MFB (CRT 14inches ) LINEAR
LINEARLINEAR
LINEAR A2D7
A2D7A2D7
A2D7－
－－
－01
01 01
01 ～
～～
～
FS15
FS15FS15
FS15－
－－
－TB (CRT 9inches)
TB (CRT 9inches)TB (CRT 9inches)
TB (CRT 9inches) LINEAR
LINEARLINEAR
LINEAR A2D8
A2D8A2D8
A2D8－
－－
－01
01 01
01 ～
～～
～
FS16
FS16FS16
FS16－
－－
－MB
MBMB
MB LINEAR
LINEARLINEAR
LINEAR B0AA
B0AAB0AA
B0AA－
－－
－03
03 03
03 ～
～～
～
FS16
FS16FS16
FS16－
－－
－TB
TBTB
TB LINEAR
LINEARLINEAR
LINEAR B1A1
B1A1B1A1
B1A1－
－－
－25
25 25
25 ～
～～
～
FS18
FS18FS18
FS18－
－－
－MB
MBMB
MB LINEAR
LINEARLINEAR
LINEAR BDA1
BDA1BDA1
BDA1－
－－
－18
18 18
18 ～
～～
～
FS18
FS18FS18
FS18－
－－
－TB
TBTB
TB LINEAR
LINEARLINEAR
LINEAR BEA1
BEA1BEA1
BEA1－
－－
－17
17 17
17 ～
～～
～
FS16
FS16FS16
FS16－
－－
－MC
MCMC
MC LINEAR
LINEARLINEAR
LINEAR B0B1
B0B1B0B1
B0B1－
－－
－13
13 13
13 ～
～～
～
FS16
FS16FS16
FS16－
－－
－MC
MCMC
MC ROTARY
ROTARYROTARY
ROTARY B0B1
B0B1B0B1
B0B1－
－－
－21
21 21
21 ～
～～
～
FS16
FS16FS16
FS16－
－－
－TC
TCTC
TC LINEAR
LINEARLINEAR
LINEAR B1B1
B1B1B1B1
B1B1－
－－
－13
13 13
13 ～
～～
～
FS16
FS16FS16
FS16－
－－
－TC
TCTC
TC ROTARY
ROTARYROTARY
ROTARY B1B1
B1B1B1B1
B1B1－
－－
－18
18 18
18 ～
～～
～
FS18
FS18FS18
FS18－
－－
－MC
MCMC
MC LINEAR
LINEARLINEAR
LINEAR BDB1
BDB1BDB1
BDB1－
－－
－11
11 11
11 ～
～～
～
FS18
FS18FS18
FS18－
－－
－MC
MCMC
MC ROTARY
ROTARYROTARY
ROTARY BDB1
BDB1BDB1
BDB1－
－－
－19
19 19
19 ～
～～
～
FS18
FS18FS18
FS18－
－－
－TC
TCTC
TC LINEAR
LINEARLINEAR
LINEAR BEB1
BEB1BEB1
BEB1－
－－
－14
14 14
14 ～
～～
～
FS18
FS18FS18
FS18－
－－
－TC
TCTC
TC ROTARY
ROTARYROTARY
ROTARY BEB1
BEB1BEB1
BEB1－
－－
－19
19 19
19 ～
～～
～
FS16
FS16FS16
FS16ｉ－
ｉ－ｉ－
ｉ－MA
MAMA
MA LINEAR
LINEARLINEAR
LINEAR B0F1
B0F1B0F1
B0F1－
－－
－02
02 02
02 ～
～～
～
FS16
FS16FS16
FS16ｉ－
ｉ－ｉ－
ｉ－MA
MAMA
MA ROTARY
ROTARYROTARY
ROTARY B0F1
B0F1B0F1
B0F1－
－－
－15
15 15
15 ～
～～
～
FS16
FS16FS16
FS16ｉ－
ｉ－ｉ－
ｉ－TA
TATA
TA LINEAR
LINEARLINEAR
LINEAR B1F1
B1F1B1F1
B1F1－
－－
－02
02 02
02 ～
～～
～
FS16
FS16FS16
FS16ｉ－
ｉ－ｉ－
ｉ－TA
TATA
TA ROTARY
ROTARYROTARY
ROTARY B1F1
B1F1B1F1
B1F1－
－－
－14
14 14
14 ～
～～
～
FS16
FS16FS16
FS16ｉ－
ｉ－ｉ－
ｉ－PA
PAPA
PA LINEAR
LINEARLINEAR
LINEAR B7F1
B7F1B7F1
B7F1－
－－
－02
02 02
02 ～
～～
～
FS16
FS16FS16
FS16ｉ－
ｉ－ｉ－
ｉ－LA
LALA
LA LINEAR
LINEARLINEAR
LINEAR B8F1
B8F1B8F1
B8F1－
－－
－01
01 01
01 ～
～～
～
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Contents Summary of The CNC Applic. For Heidenhain's absolute encoder (A-56731E-0083) Additional Manual

  • Page 1TECHNICAL REPORT (MANUAL) ＮＯ．ＴＭＳ９８／058 Ｅ Date February 1, 2000 General Manager of Servo Laboratory The CNC application for HEIDENHAIN’ HEIDENHAIN’s absolute encoder 1. Distribute this report to the destinations marked with ○: ○ Your information ○ GE Fanuc-N, GE Fanuc-E Fanuc Robotics-NA, Fanuc Robot
  • Page 2The CNC application for HEIDENHAIN’ HEIDENHAIN’s absolute encoder HEIDENHAIN have absolute encoders which are the A/B phase output type with distance-coded-reference marks and the serial output type with FANUC serial interface. We can use the CNC with these encoders as follows. 1. CNC hardware serie
  • Page 3CNC Type of encoder Series－ Series－ Version FS18ｉ－ ｉ－ MA FS18ｉ－MA LINEAR BDF1－ BDF1－ 02 ～ FS18ｉ－ ｉ－ MA FS18ｉ－MA ROTARY BDF1－ BDF1－ 15 ～ FS18ｉ－ ｉ－ TA FS18ｉ－TA LINEAR BEF1－ BEF1－ 02 ～ FS18ｉ－ ｉ－ TA FS18ｉ－TA ROTARY BEF1－ BEF1－ 14 ～ FS18ｉ－ ｉ－ PA FS18ｉ－PA LINEAR B7F5－ B7F5－ 02 ～ FS21ｉ－ ｉ－ MA FS21ｉ－MA LINE
  • Page 42. CNC hardware series and software versions for the serial output type with FANUC serial interface. 2.1 CNC Hardware CNC Control circuit Specification FS15B MAIN CPU Board Servo control unit G ：A02B－ A02B－0162－ 0162－H231 MAIN CPU Board Servo control unit H ：A02B－ A02B－0162－ 0162－H232 Additional axi