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CZi Sensor (with Serial Interface) Additional Manual Page 13

Additional Manual
Draw.
Title
Na
g
atomo 04.02.16 01
PAGE
13／14
FANUC LTD.
A-72587-0148EN
Descri
p
tionDesi
g
n Date Edit
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CZi Sensor (with Serial Interface)
(10)Setting of parameters
The number of feedback pulse per 1 revolution differs along with the teeth number of CZi Sensor(with Serial
Interface). Set parameters shown below.
(10).1 Series and editions of applicable servo software
90B0/YA
90B1/01 and subsequent editions.
(10).2 In case of using CZi Sensor (with Serial Interface) for Synchronous Bilt-in Motor DiS Series
It is neccesary to apply “pole position detection function” in order to adjust AMR offset.
（CZi Sensor 1024S）
Set parameters as Pulsecoder whose resolution is 1000000 per revolution.
Setting example
44 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)
（CZi SENSOR512S）
Set parameters as Pulsecoder whose resolution of 500000 per revolution.
Setting example
88 polar Synchronous Built-in Motor, gear ratio 1 : 1 , detection unit 1/1000[deg].
F・FG=360000／500000= 36/50
Velocity pulses=4096
Position pulses=6250
AMR=01011000 （88）
Reference counter=360000（or the divided number）
F・FG (Necessary position FB pulses per motor revolution) / 1000000
Velocity pulses 8192
Position pulses 12500
A
MR Set half of pole numbers in binary number
Reference counter Number of position FB pulses per motor revolution,
or an inte
g
e
r
number that divides into it.
F・FG (Necessary position FB pulses per motor revolution) / 500000
Velocity pulses 4096
Position pulses 6250
A
MR Set pole numbers in binary number
Reference counter Number of position FB pulses per motor revolution,
or an integer number that divides into it.
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Contents Summary of CZi Sensor (with Serial Interface) Additional Manual

  • Page 1CZi Sensor (with Serial Interface) １．Type of applied technical documents Title CZi Sensor (with Serial Interface) Spec. No./Ver. A-72587-0148EN ２．Summary of change Group Name／Outline New・Add Applicable Correct・Del Date Basic Function Optional Function Unit Maintenance Parts Notice Correction Another
  • Page 2CZi Sensor (with Serial Interface) (1) Names and Drawing Numbers Table (1) Names and Drawing Numbers Remarks Accuracy Number Maximum Name Drawing No. Resolution Detection ring (typ.) of teeth speed Inner Outer Function diameter diameter CZi Sensor 1/3600000 5/1000 A860-2141-T411 512 1200min-1 φ82 φ1
  • Page 3(4) Outline Drawing (4).1 CZi Sensor 512S This bolt for fixing AB/Z ring. Fastened before shipment A860-2141-T411 For detection ring attachment 6－φ 5.5 drill, sensor P.C.D.φ 92 head Sensor mounting ring sensor head For the sensor Alignment track mounting ring attachment Sectional drawing Cable lengt
  • Page 4(4).3 CZi Sensor 1024S This bolt for fixing AB/Z ring. A860-2141-T611 Fastened before shipment For detection ring attachment 6-φ 6.6 drill Sensor head P.C.D.φ 183 Sensor mounting ring Sensor For the sensor head mounting ring attachment Alignment track 4-φ 6.6 drill Sectional drawing of A-A’ P.C.D.φ
  • Page 5(5) Mounting method of CZi Sensor (5).1 Mounting the detection ring Prepare a flange on the spindle shaft and fix the detection ring with screws to the spindle axis direction using the through holes on the detection ring. Adjust the detection ring so that the radial eccentricity of the alignment tra
  • Page 6(5).2 Mounting the sensor mounting ring The spindle should be so designed that it will construct the clearance fit between the outer diameter of the sensor mounting ring and the fitting part of the spindle as shown in the diagram below (The error in the fitting size may cause the increase of the det
  • Page 7(5).3 In case of checking the output amplitude ・Please refer to the section 3 “electrial specification” in checking the output amplitude. ・Lissajous’ waveform of A /B phase signal is close to a true circle ・In checking the output amplitude without connecting SVM, please connect 5V and 0V check-pin t
  • Page 8(7) Rotational direction of CZi Sensor The CZi sensor rotates to the forward direction when the detection rings is rotated clockwise from the top side view of the sensor. Forward Please check the rotational derection of the motor by referring to the specification of Syncronous Built-in Motor Dis ser
  • Page 9(8) Block diagram of connection (8).1 In case of connecting to SVM ( Position detection usage for the Synchronous Built-in Motor DiS Series) αi series SVM CNC Preamplifier ＦＳＳＢ FANUC Serial I/F CN3 K1 CZi sensor (8).2 In case of connecting to the Separate detector Interface Unit (Separete detector u
  • Page 10(9) Specifications of connection (9).1 Cable K1 CZi Sensor(with Serial Interface) SVM preamplifier SS （5） RD （1） （6） *RD （2） （12, 14） 0V （9）,（10）,（11） （ 9,18, 5V （12）,（13）,(14) （7） 6V （7） （16） FG （15） 20half-pitch connector HIROSE RM21WTP-15S-（ 8） Earth plate ※ 6V line is not connected inside of CZi
  • Page 11(9).2 Cable K2 SVM or CZi Sensor(with Serial Interface) Separate Interface Unit SS Preamplifier （1） SD （3） （2） ＊SD （4） （5） REQ （1） （6） *REQ （2） （12, 14） 0V （9）,（10）,（11） （9,18, 20） 5V （12）,（13）,(14) （7） 6Ｖ （7） （16） FG （15） 20pin half-pitch connector HIROSE RM21WTP-15S-（ 8） Earth plate ※ 6V line is n
  • Page 12(9).3 Cable length of K1 and K2 Design the cable length so that the voltage drop in the cable is less than 0.2V. [Example] The voltage drop can be calculated as below when the number of 0V/5V lines are two with each other ,each line resistance is 38.7 Ω/km and the cable length is 10m. (Current consu
  • Page 13(10)Setting of parameters The number of feedback pulse per 1 revolution differs along with the teeth number of CZi Sensor(with Serial Interface). Set parameters shown below. (10).1 Series and editions of applicable servo software 90B0/YA 90B1/01 and subsequent editions. (10).2 In case of using CZi S
  • Page 14(10).3 In case of using CZi Sensor (with Serial Interface) as Separate Detector （CZi SENSOR1024S） Set parameters as rotary type encoder with FANUC Serial Interface F・FG (Necessary position FB pulses per detector revolution) / 1000000 Position pulses 12500×（reduction ratio from motor to table） Refere