The CNC Applic. For Heidenhain's absolute encoder (A-56731E-0083) Additional Manual Page 4
Additional Manual
The CNC application for
HEIDENHAIN’s absolute encoder
3／3
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.
2.
2.2.
2. CNC hardware series and software versions for the serial output type
CNC hardware series and software versions for the serial output type CNC hardware series and software versions for the serial output type
CNC hardware series and software versions for the serial output type with
withwith
with
FANUC serial interface.
FANUC serial interface.FANUC serial interface.
FANUC serial interface.
2.1 CNC Hardware
C
CC
CNC Control circuit
NC Control circuit NC Control circuit
NC Control circuit Specification
Specification Specification
Specification
FS15B
FS15BFS15B
FS15B MAIN CPU Board Servo control unit G
MAIN CPU Board Servo control unit G MAIN CPU Board Servo control unit G
MAIN CPU Board Servo control unit G ：
：：
：A02B
A02BA02B
A02B－
－－
－0162
01620162
0162－
－－
－H231
H231H231
H231
MAIN CPU Board Servo control unit H
MAIN CPU Board Servo control unit HMAIN CPU Board Servo control unit H
MAIN CPU Board Servo control unit H ：
：：
：A02B
A02BA02B
A02B－
－－
－0162
01620162
0162－
－－
－H232
H232H232
H232
Additional axis control circuit G
Additional axis control circuit G Additional axis control circuit G
Additional axis control circuit G ：
：：
：A02B
A02BA02B
A02B－
－－
－0162
01620162
0162－
－－
－J241
J241J241
J241
Additional axis control circuit H
Additional axis control circuit H Additional axis control circuit H
Additional axis control circuit H ：
：：
：A02B
A02BA02B
A02B－
－－
－0162
01620162
0162－
－－
－J242
J242J242
J242
FS16C
FS16CFS16C
FS16C All circuits agree.
All circuits agree. All circuits agree.
All circuits agree.
FS18C
FS18CFS18C
FS18C All circuits agree.
All circuits agree. All circuits agree.
All circuits agree.
ｉ
ｉｉ
ｉseries Separate type detector interface unit
series Separate type detector interface unit series Separate type detector interface unit
series Separate type detector interface unit ：
：：
：A02B
A02BA02B
A02B－
－－
－0236
02360236
0236－
－－
－C201
C201C201
C201
：
：：
：A20B
A20BA20B
A20B－
－－
－0236
02360236
0236－
－－
－C202
C202C202
C202
：
：：
：A20B
A20BA20B
A20B－
－－
－0236
02360236
0236－
－－
－C203
C203C203
C203
：
：：
：A20B
A20BA20B
A20B－
－－
－0236
02360236
0236－
－－
－C204
C204C204
C204
2.2 CNC software
2.2 CNC software 2.2 CNC software
2.2 CNC software
CNC
CNCCNC
CNC Series
Series Series
Series－
－－
－Version
VersionVersion
Version
FS15
FS15FS15
FS15－
－－
－MB (CRT 9inches, without SUB CPU)
MB (CRT 9inches, without SUB CPU) MB (CRT 9inches, without SUB CPU)
MB (CRT 9inches, without SUB CPU) A0D1
A0D1 A0D1
A0D1－
－－
－01
01 01
01 ～
～～
～
FS15
FS15FS15
FS15－
－－
－MB (CRT 14inches, without SUB CPU)
MB (CRT 14inches, without SUB CPU)MB (CRT 14inches, without SUB CPU)
MB (CRT 14inches, without SUB CPU) A0D2
A0D2 A0D2
A0D2－
－－
－01
01 01
01 ～
～～
～
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) AAD1
AAD1 AAD1
AAD1－
－－
－01
01 01
01 ～
～～
～
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) AA
AA AA
AAD2
D2D2
D2－
－－
－01
01 01
01 ～
～～
～
FS15
FS15FS15
FS15－
－－
－MFB (CRT 14inches, without SUB CPU)
MFB (CRT 14inches, without SUB CPU) MFB (CRT 14inches, without SUB CPU)
MFB (CRT 14inches, without SUB CPU) A1D2
A1D2 A1D2
A1D2－
－－
－01
01 01
01 ～
～～
～
FS15
FS15FS15
FS15－
－－
－TB (CRT 9inches, without SUB CPU)
TB (CRT 9inches, without SUB CPU)TB (CRT 9inches, without SUB CPU)
TB (CRT 9inches, without SUB CPU) A2D1
A2D1 A2D1
A2D1－
－－
－01
01 01
01 ～
～～
～
FS15
FS15FS15
FS15－
－－
－TB (CRT 14inches, without SUB CPU)
TB (CRT 14inches, without SUB CPU)TB (CRT 14inches, without SUB CPU)
TB (CRT 14inches, without SUB CPU) A2D2
A2D2 A2D2
A2D2－
－－
－01
01 01
01 ～
～～
～
FS15
FS15FS15
FS15－
－－
－TTB (CRT 9inches, without SUB CPU)
TTB (CRT 9inches, without SUB CPU)TTB (CRT 9inches, without SUB CPU)
TTB (CRT 9inches, without SUB CPU) A4D1
A4D1 A4D1
A4D1－
－－
－01
01 01
01 ～
～～
～
FS15
FS15FS15
FS15－
－－
－TTB (CRT 14inches, without SUB CPU)
TTB (CRT 14inches, without SUB CPU)TTB (CRT 14inches, without SUB CPU)
TTB (CRT 14inches, without SUB CPU) A4D2
A4D2 A4D2
A4D2－
－－
－01
01 01
01 ～
～～
～
FS15
FS15FS15
FS15－
－－
－MB(MA)
MB(MA) MB(MA)
MB(MA)
(CRT 9inches, with SUB CPU, for 15 axes)
(CRT 9inches, with SUB CPU, for 15 axes)(CRT 9inches, with SUB CPU, for 15 axes)
(CRT 9inches, with SUB CPU, for 15 axes)
A6D1
A6D1A6D1
A6D1－
－－
－01
01 01
01 ～
～～
～
FS15
FS15FS15
FS15－
－－
－MB(MA)
MB(MA) MB(MA)
MB(MA)
(CRT 14inches, with SUB CPU, for 15 axes)
(CRT 14inches, with SUB CPU, for 15 axes) (CRT 14inches, with SUB CPU, for 15 axes)
(CRT 14inches, with SUB CPU, for 15 axes) A6D2
A6D2A6D2
A6D2－
－－
－01
01 01
01 ～
～～
～
FS15
FS15FS15
FS15－
－－
－TB(MA)
TB(MA) TB(MA)
TB(MA)
(CRT 9inches, with SUB CPU, for 15 axes)
(CRT 9inches, with SUB CPU, for 15 axes) (CRT 9inches, with SUB CPU, for 15 axes)
(CRT 9inches, with SUB CPU, for 15 axes)
A7D1
A7D1A7D1
A7D1－
－－
－01
01 01
01 ～
～～
～
FS15
FS15FS15
FS15－
－－
－TB(MA)
TB(MA) TB(MA)
TB(MA)
(CRT 14inches, with SUB CPU, for 15 axes)
(CRT 14inches, with SUB CPU, for 15 axes) (CRT 14inches, with SUB CPU, for 15 axes)
(CRT 14inches, with SUB CPU, for 15 axes)
A7D2
A7D2A7D2
A7D2－
－－
－01
01 01
01 ～
～～
～
FS16
FS16FS16
FS16－
－－
－MC
MCMC
MC B0B1
B0B1 B0B1
B0B1－
－－
－11
11 11
11 ～
～～
～
FS16
FS16FS16
FS16－
－－
－TC
TCTC
TC B1B1
B1B1 B1B1
B1B1－
－－
－09
09 09
09 ～
～～
～
FS18
FS18FS18
FS18－
－－
－MC
MCMC
MC BDB1
BDB1 BDB1
BDB1－
－－
－09
09 09
09 ～
～～
～
FS18
FS18FS18
FS18－
－－
－TC
TCTC
TC BEB1
BEB1 BEB1
BEB1－
－－
－09
09 09
09 ～
～～
～
FS16
FS16FS16
FS16ｉ／
ｉ／ｉ／
ｉ／18
1818
18ｉ
ｉｉ
ｉ All versions agree.
All versions agree.All versions agree.
All versions agree.
(Note) There is no restriction on type of encoder to FANUC serial interface.
(Note) There is no restriction on type of encoder to FANUC serial interface.(Note) There is no restriction on type of encoder to FANUC serial interface.
(Note) There is no restriction on type of encoder to FANUC serial interface.
2.3 Servo software
2.3 Servo software2.3 Servo software
2.3 Servo software
Series
Series Series
Series－
－－
－Version
VersionVersion
Version
9080
90809080
9080－
－－
－0
00
06
6 6
6 ～
～～
～
90A0
90A090A0
90A0－
－－
－0
00
03
33
3
～
～～
～
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