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FANUC LTD.
B-65282EN/05-08
Descri
tionDesi
n Date Edit
Changes and an addition
I. Na
atomo 05.06.21 02
bsolute αiCZ Sensor
10. Setting of parameters
The number of feedback pulse per 1 revolution differs along with the teeth number of Absolute αiCZ Sensor. Set
parameters as shown below.
In case of using Absolute α
iCZ Sensor to the Synchronous Built-in Motor, the pole position detection function (this
is option) is necessary. Refer to the specification (No.A-77769) about the pole position detection function.
10.1 In case of using Absolute αiCZ Sensor for Synchronous Bilt-in Motor Dis Series
(Series and editions of applicable servo software)
Series and editions of applicable servo software are different with Specifications of NC or Absolute αiCZ Sensor
(Refer to the below table). It is necessary to apply “pole position detection function” in order to adjust AMR offset.
Absolute α
iCZ Sensor 768S is only used for limited rotation (Under 10 revolutions cumulatively).
NC
Specifications
Of sensor
Series-0
i Series-15i,16i,18i,21i Series-30i,31i,32i
Absolute
αiCZ Sensor 512S
90B1/A(01) and subsequent
editions
90D0/A(01) and subsequent
editions
90E0/A(01) and subsequent
editions
Absolute
αiCZ Sensor 768S
Applicable only for the
limited rotation usage(Under
10 revolutions cumulatively)
90B1/C(03) and subsequent
editions
Applicable only for the limited
rotation usage(Under 10
revolutions cumulatively)
90D0/J(10) and subsequent
editions
90E0/J(10) and subsequent
editions
Absolute
αiCZ Sensor 1024S
90B1/A(01) and subsequent
editions
90D0/A(01) and subsequent
editions
90E0/A(01) and subsequent
editions
(Absolute αiCZ Sensor 1024S)
Set parameters as Pulsecoder whose resolution is 1000000 per revolution.
Setting example
88 polar Synchronous Built-in Motor, gear ratio 1 : 1 , detection unit 1/1000[deg].
F・FG=360000/1000000= 36/100
Velocity pulses=8192
Position pulses=12500
AMR=00101100 (44)
Reference counter=360000 (or the divided number)
F・FG (Necessary position FB pulses per motor revolution) / 1000000
Velocity pulses 8192
Position pulses 12500
MR Set half of pole numbers in binary number
Reference counter Number of position FB pulses per motor revolution,
or an inte
e
number that divides into it.