fanuc ac sindple motor αi , βi , built-in spindle … · fanuc built-in spindle motor bi series...

FANUC AC SPINDLE MOTOR @* seriesFANUC AC SPINDLE MOTOR #* series

PARAMETER MANUAL

B-65280EN/08

No part of this manual may be reproduced in any form. All specifications and designs are subject to change without notice.

The products in this manual are controlled based on Japans Foreign Exchange and Foreign Trade Law. The export from Japan may be subject to an export license by the government of Japan. Further, re-export to another country may be subject to the license of the government of the country from where the product is re-exported. Furthermore, the product may also be controlled by re-export regulations of the United States government. Should you wish to export or re-export these products, please contact FANUC for advice.

In this manual we have tried as much as possible to describe all the various matters. However, we cannot describe all the matters which must not be done, or which cannot be done, because there are so many possibilities. Therefore, matters which are not especially described as possible in this manual should be regarded as impossible.

This manual contains the program names or device names of other companies, some of which are registered trademarks of respective owners. However, these names are not followed by or in the main body.

The parameters described in this manual must be set correctly according to the relevant descriptions. If the parameters are not set correctly, vibrations and unpredictable motions can occur. When setting and updating the parameters, place top priority on safety in operation by taking actions, such as heightening the speed step by step and performing an operation so that an emergency stop can be initiated immediately, until the settings are confirmed to be appropriate.

When an abnormality such as an alarm or a hardware failure occurs, the operations described in the specifications are not guaranteed unless otherwise specifically noted. When action corresponding to the abnormality is specifically described, take the action. When no action is described, please contact FANUC.

Generally, safety functions represent functions that protect the operators from machine danger. The signals and functions described in the specifications cannot be used separately for the safety functions unless otherwise described as being usable for the safety functions. Their specifications are not assumed to be used as the safety functions in this case, an unexpected danger may be caused. For information about the safety functions, please contact FANUC.

A wrong device connection or setting can lead to unpredictable operation. When starting

to operate the machine for the first time after assembling the machine, replacing components, or modifying parameter settings, exercise the greater care.

B-65280EN/08 DEFINITION OF WARNING, CAUTION, AND NOTE

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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 is described as a Note. Read the Warning, Caution, and Note thoroughly before attempting to use the machine.

WARNING Applied when there is a danger of the user being injured or when there is a

damage of both the user being injured and the equipment being damaged if the approved procedure is not observed.

CAUTION

Applied when there is a danger of the equipment being damaged, if the approved procedure is not observed.

NOTE The Note is used to indicate supplementary information other than Warning and

Caution. Even those matters described under "CAUTION" may lead to serious consequences depending on the situation. Thus, be sure to observe the approved procedure. * Read this manual carefully, and store it in a safe place.

B-65280EN/08 PREFACE

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PREFACE This manual describes the parameters and functions of the FANUC servo amplifier i/i series spindle. This manual is divided into five parts and appendix. This manual includes Part I, which provides a description related to the i series spindle and BiI series spindle, Part II, which provides a description related to the i series spindle, Part III, which provides a description related to the Ci series spindle, Part IV, which provides a description related to the BiS series spindle, and Part V, which provides a description related to the iIc series spindle. Unless otherwise noted, the parameter numbers for FANUC Series 16i are used in the text. When using any other model, reference the corresponding parameter numbers. The table below indicates the abbreviated model names used with the parameter numbers.

Product name Abbreviated model name in text Abbreviated model name in tableFANUC Series 30i Series 30i FANUC Series 31i Series 31i FANUC Series 32i Series 32i FANUC Series 0i-MODEL D Series 0i-D

30i

FANUC Series 16i Series 16i FANUC Series 18i Series 18i FANUC Series 21i Series 21i FANUC Series 0i-MODEL C Series 0i-C

16i

FANUC Series 15i Series 15i 15i For detailed information indicating which model each function described in this manual can be used with, refer to the manual of each CNC. For the package specifications, in particular, refer to the CNC manual. The manuals related to the i/i series spindle are listed below. (1) FANUC AC SPINDLE MOTOR i series DESCRIPTIONS (B-65272EN) (2) FANUC AC SPINDLE MOTOR Ci series DESCRIPTIONS (B-65372EN) (3) FANUC AC SPINDLE MOTOR i series DESCRIPTIONS (B-65312EN) (4) FANUC SERVO AMPLIFIER i series DESCRIPTIONS (B-65282EN) (5) FANUC SERVO AMPLIFIER i series DESCRIPTIONS (B-65322EN) (6) FANUC AC SERVO MOTOR is series, FANUC AC SERVO MOTOR i series, FANUC AC SPINDLE MOTOR i series, FANUC SERVO AMPLIFIER i series MAINTENANCE MANUAL (B-65285EN) (7) FANUC AC SERVO MOTOR is series,

FANUC AC SPINDLE MOTOR i series, FANUC SERVO AMPLIFIER i series MAINTENANCE MANUAL (B-65325EN)

(8) FANUC AC SPINDLE MOTOR i series FANUC AC SPINDLE MOTOR i series

FANUC BUILT-IN SPINDLE MOTOR Bi series PARAMETER MANUAL (B-65280EN) (9) FANUC BUILT-IN SPINDLE MOTOR BiI series DESCRIPTIONS (B-65292EN) (10) FANUC SYNCHRONOUS BUILT-IN SPINDLE MOTOR BiS series

DESCRIPTIONS (B-65342EN)

B-65280EN/08 TABLE OF CONTENTS

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TABLE OF CONTENTS

DEFINITION OF WARNING, CAUTION, AND NOTE .................................s-1 PREFACE....................................................................................................p-1

I. FANUC AC SPINDLE MOTOR i series FANUC BUILT-IN SPINDLE MOTOR BiI series

1 START-UP...............................................................................................3 1.1 START-UP PROCEDURE.............................................................................3 1.2 SPINDLE SERIAL INTERFACE (OPTIONAL FUNCTION)............................ 4

1.2.1 Parameters Related to Spindle Serial Output ...........................................................4 1.2.2 Automatic Spindle Parameter Initialization .............................................................5 1.2.3 Automatic Setting of the Parameter for Specifying the PS Control Axis.................5 1.2.4 Diagnosis (Diagnosis Screen)...................................................................................6 1.2.5 Alarm........................................................................................................................7

1.3 PARAMETERS RELATED TO DETECTORS................................................ 9 1.3.1 List of Parameters for Detectors...............................................................................9 1.3.2 Details of Parameters for Detectors........................................................................10 1.3.3 Typical Detector Configurations ............................................................................19

2 EXPLANATION OF OPERATION MODES...........................................27 2.1 VELOCITY CONTROL MODE..................................................................... 27

2.1.1 Start-up Procedure..................................................................................................27 2.1.2 Overview ................................................................................................................27 2.1.3 System Configuration.............................................................................................27 2.1.4 List of I/O Signals (CNCPMC)..........................................................................27 2.1.5 Related Parameters .................................................................................................31 2.1.6 Details of Related Parameters.................................................................................32 2.1.7 Troubleshooting .....................................................................................................41

2.2 POSITION CODER METHOD SPINDLE ORIENTATION (OPTIMUM ORIENTATION)(OPTIONAL FUNCTION) ................................................... 45 2.2.1 Start-up Procedure..................................................................................................45 2.2.2 Overview ................................................................................................................46 2.2.3 Transition from Conventional Method Orientation to Optimum Orientation ........46 2.2.4 Feature ....................................................................................................................47 2.2.5 Block Diagram .......................................................................................................48 2.2.6 System Configuration.............................................................................................48 2.2.7 Stop Position Specification Method .......................................................................52 2.2.8 I/O Signals (CNCPMC) .....................................................................................52 2.2.9 Examples of Sequences ..........................................................................................55 2.2.10 Explanation of Operation .......................................................................................57 2.2.11 Related Parameters .................................................................................................59 2.2.12 Details of Related Parameters.................................................................................61 2.2.13 Tuning Procedure ...................................................................................................70 2.2.14 Adjusting the Orientation Stop Position Shift Parameter.......................................78 2.2.15 Supplementary Descriptions...................................................................................78

2.3 RIGID TAPPING (OPTIONAL FUNCTION) ................................................. 82 2.3.1 Start-up Procedure..................................................................................................82 2.3.2 Overview ................................................................................................................82

TABLE OF CONTENTS B-65280EN/08

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2.3.3 FSSB High-speed Rigid Tapping ...........................................................................82 2.3.3.1 Series and Edition of Applicable FSSB High-speed Rigid Tapping Software .. 83

2.3.4 System Configuration.............................................................................................83 2.3.5 List of I/O Signals (CNCPMC)..........................................................................87 2.3.6 Sequence.................................................................................................................89 2.3.7 Related Parameters .................................................................................................89 2.3.8 Details of Related Parameters.................................................................................91 2.3.9 Parameter Setting Procedure ..................................................................................98 2.3.10 Adjustment Procedure ..........................................................................................105 2.3.11 Diagnosis (Diagnosis Screen)...............................................................................110 2.3.12 Alarm....................................................................................................................111

2.4 Cs CONTOURING CONTROL (OPTIONAL FUNCTION) ......................... 114 2.4.1 Start-up Procedure................................................................................................114 2.4.2 Overview ..............................................................................................................114 2.4.3 System Configuration...........................................................................................115 2.4.4 List of I/O Signals (CNCPMC)........................................................................117 2.4.5 Examples of Sequences ........................................................................................119 2.4.6 Velocity Loop Gains Override Function on Cs Contouring Control Mode .........120

2.4.6.1 Series and Editions of Applicable Spindle Software ....................................... 120 2.4.6.2 Block diagram.................................................................................................. 121

2.4.7 Related Parameters ...............................................................................................121 2.4.8 Details of Related Parameters...............................................................................123 2.4.9 Adjusting Cs Contouring Control.........................................................................132

2.4.9.1 Overview ......................................................................................................... 132 2.4.9.2 Adjustment Procedure ..................................................................................... 132 2.4.9.3 Standard parameters of velocity loop gain for Cs contouring control for each

motor model..................................................................................................... 135 2.4.10 Diagnosis (Diagnosis Screen)...............................................................................140 2.4.11 Alarm....................................................................................................................140

2.5 SPINDLE SYNCHRONOUS CONTROL (OPTIONAL FUNCTION)........... 142 2.5.1 Start-up Procedure................................................................................................142 2.5.2 Overview ..............................................................................................................142 2.5.3 System Configuration...........................................................................................143 2.5.4 Explanation of Operation .....................................................................................152 2.5.5 I/O Signals (CNCPMC) ...................................................................................153 2.5.6 Examples of Sequences ........................................................................................156 2.5.7 Related Parameters ...............................................................................................159 2.5.8 Spindle Parameters for Rigid Tapping and Spindle Synchronous Control ..........161 2.5.9 Details of Related Parameters...............................................................................161 2.5.10 Number of Error Pulses in Spindle Synchronous Control....................................171 2.5.11 Specifying a Shift Amount for Spindle Phase Synchronous Control...................172 2.5.12 Diagnosis (Diagnosis Screen)...............................................................................172 2.5.13 Alarm....................................................................................................................172

2.6 SPECIFICATIONS COMMON TO ALL OPERATION MODES.................. 173 2.6.1 Overview ..............................................................................................................173 2.6.2 List of I/O Signals (CNCPMC)........................................................................173 2.6.3 Parameters ............................................................................................................176 2.6.4 Details of Parameters............................................................................................179 2.6.5 Diagnosis (Diagnosis Screen)...............................................................................189

3 I/O SIGNALS (CNCPMC) ................................................................191 3.1 INPUT SIGNALS (PMCCNCSP)......................................................... 191

3.1.1 List of Input Signals .............................................................................................192 3.1.2 Explanation of Input Signals ................................................................................192


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3.1.3 Details of Input Signals ........................................................................................194 3.2 OUTPUT SIGNALS (SPCNCPMC)..................................................... 204

3.2.1 List of Output Signals...........................................................................................205 3.2.2 Explanation of Output Signals .............................................................................205 3.2.3 Details of Output Signals .....................................................................................206

4 ADJUSTMENT ....................................................................................213 4.1 VELOCITY LOOP GAIN ADJUSTMENT ................................................... 213

4.1.1 Overview ..............................................................................................................213 4.1.2 Parameters ............................................................................................................213 4.1.3 Adjustment Procedure ..........................................................................................215 4.1.4 Additional Information (Position Gain Adjustment)............................................216

4.2 MACHINE RESONANCE ELIMINATION................................................... 216 4.2.1 TCMD Filter.........................................................................................................216 4.2.2 Resonance Elimination Filter ...............................................................................217 4.2.3 Disturbance Input Function ..................................................................................222 4.2.4 Adaptive Resonance Elimination Filter................................................................225

4.3 AMPLITUDE RATIO/PHASE DIFFERENCE COMPENSATION FUNCTION................................................................................................................... 230

5 FUNCTION DESCRIPTIONS ..............................................................235 5.1 SPEED RANGE SWITCHING CONTROL (OPTIONAL FUNCTION) ........ 235

5.1.1 Overview ..............................................................................................................235 5.1.2 Series and Editions of Applicable Spindle Software............................................235 5.1.3 Configuration .......................................................................................................235 5.1.4 Using Speed Range Switching Control ................................................................236 5.1.5 I/O Signals (CNCPMC) ...................................................................................239 5.1.6 Sequence...............................................................................................................242 5.1.7 List of Related Parameters....................................................................................244 5.1.8 Details of Related Parameters...............................................................................245 5.1.9 Parameter-specified Switching between High- and Low-speed Characteristics ..246

5.2 SPINDLE SWITCHING CONTROL ........................................................... 247 5.2.1 Overview ..............................................................................................................247 5.2.2 Series and Editions of Applicable Spindle Software............................................247 5.2.3 Configuration .......................................................................................................248 5.2.4 Details of Specifications.......................................................................................248 5.2.5 Restrictions...........................................................................................................249 5.2.6 I/O Signals (CNCPMC) ...................................................................................249 5.2.7 Sequence...............................................................................................................251 5.2.8 List of Related Parameters....................................................................................252 5.2.9 Details of Related Parameters...............................................................................253 5.2.10 Parameter Setting Procedure ................................................................................255 5.2.11 Supplementary Descriptions about Parameters ....................................................255

5.3 INCRMENTAL COMMAND TYPE SPINDLE ORIENTATION (SPINDLE ROTATION SPEED CONTROL) (OPTIONAL FUNCTION) ...................... 259 5.3.1 Overview ..............................................................................................................259 5.3.2 Series and Editions of Applicable Spindle Software............................................259 5.3.3 System Configuration...........................................................................................260 5.3.4 I/O Signals (CNCPMC) ...................................................................................263 5.3.5 Examples of Sequences ........................................................................................265 5.3.6 List of Related Parameters....................................................................................267 5.3.7 Details of Related Parameters...............................................................................267

5.4 CONVENTIONAL METHOD ORIENTATION (OPTIONAL FUNCTION).... 268


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5.4.1 Overview ..............................................................................................................268 5.4.2 Series and Editions of Applicable Spindle Software............................................268 5.4.3 Configuration .......................................................................................................269 5.4.4 I/O Signals (CNCPMC) ...................................................................................272 5.4.5 Sequence...............................................................................................................273 5.4.6 List of Related Parameters....................................................................................273 5.4.7 Details of Related Parameters...............................................................................274 5.4.8 Adjusting the Orientation Stop Position Shift Parameter.....................................278 5.4.9 Calculating the Position Gain for Orientation ......................................................278 5.4.10 Calculating the Orientation Time .........................................................................279

5.5 SPINDLE ORIENTATION DURING SPINDLE SYNCHRONIZATION CONTROL (OPTIONAL FUNCTION) ........................................................ 281 5.5.1 Overview ..............................................................................................................281 5.5.2 Series and Editions of Applicable Spindle Software............................................281 5.5.3 Specification.........................................................................................................282 5.5.4 I/O Signals (CNCPMC) ...................................................................................283 5.5.5 Sequence...............................................................................................................286 5.5.6 List of Related Parameters....................................................................................288 5.5.7 Details of Related Parameters...............................................................................288

5.6 SPINDLE FINE ACC./DEC. (FAD) FUNCTION ......................................... 290 5.6.1 Overview ..............................................................................................................290 5.6.2 Series and Editions of Applicable Spindle Software............................................290 5.6.3 Block Diagram .....................................................................................................290 5.6.4 Parameters ............................................................................................................291 5.6.5 Diagnosis (Diagnosis Screen)...............................................................................293 5.6.6 Status Errors .........................................................................................................293 5.6.7 Cautions................................................................................................................293

5.7 UNEXPECTED DISTURBANCE TORQUE DETECTION FUNCTION (OPTIONAL FUNCTION)........................................................................... 295 5.7.1 Overview ..............................................................................................................295 5.7.2 Series and Editions of Applicable Spindle Software............................................295 5.7.3 I/O Signals (CNCPMC) ...................................................................................295 5.7.4 List of Related Parameters....................................................................................296 5.7.5 Details of Related Parameters...............................................................................296 5.7.6 Parameter Tuning Procedure ................................................................................297

5.8 SPINDLE EGB (SPINDLE ELECTRONIC GEAR BOX) (OPTIONAL FUNCTION)............................................................................................... 299 5.8.1 Overview ..............................................................................................................299 5.8.2 Series and Editions of Applicable Spindle Software............................................300 5.8.3 System Configuration...........................................................................................300 5.8.4 Block Diagram .....................................................................................................304 5.8.5 I/O Signals (CNCPMC) ...................................................................................305 5.8.6 Examples of Sequences ........................................................................................305 5.8.7 List of Related Parameters....................................................................................305 5.8.8 Details of Related Parameters...............................................................................306 5.8.9 Diagnosis Signal Related to Spindle EGB ...........................................................310 5.8.10 Status Errors Related to Spindle EGB..................................................................311 5.8.11 Alarms ..................................................................................................................311

5.9 DIFFERENTIAL SPINDLE SPEED CONTROL ......................................... 312 5.9.1 Overview ..............................................................................................................312 5.9.2 Series and Editions of Applicable Spindle Software............................................312 5.9.3 Configuration .......................................................................................................312 5.9.4 Description ...........................................................................................................313


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5.9.5 I/O Signals (CNCPMC)....................................................................................314 5.9.6 Examples of Sequences ........................................................................................314 5.9.7 List of Related Parameters....................................................................................315 5.9.8 Details of Related Parameters...............................................................................315 5.9.9 Status Errors on Differential Spindle Speed Control ...........................................316

5.10 DUAL POSITION FEEDBACK FUNCTION (OPTIONAL FUNCTION) ...... 316 5.10.1 Overview ..............................................................................................................316 5.10.2 Series and Editions of Applicable Spindle Software............................................317 5.10.3 Block Diagram .....................................................................................................317 5.10.4 List of Related Parameters....................................................................................318 5.10.5 Details of Related Parameters...............................................................................318 5.10.6 Spindle Alarm.......................................................................................................321

5.11 Velocity Tandem Control Function (OPTIONAL FUNCTION).................... 322 5.11.1 Overview ..............................................................................................................322 5.11.2 Series and Editions of Applicable Spindle Software............................................323 5.11.3 System Configuration...........................................................................................324 5.11.4 I/O Signals (CNCPMC) ...................................................................................325 5.11.5 Examples of Sequences ........................................................................................328 5.11.6 Parameters ............................................................................................................332 5.11.7 Block Diagram for the Velocity Tandem Operation ............................................338 5.11.8 Alarm and Status Error.........................................................................................338 5.11.9 Additional Information.........................................................................................339

5.12 Tandem Disturbance Elimination Control (OPTIONAL FUNCTION).......... 351 5.12.1 Overview ..............................................................................................................351 5.12.2 Series and Editions of Applicable Spindle Software............................................352 5.12.3 System Configuration...........................................................................................352 5.12.4 I/O Signals (CNCPMC) ...................................................................................353 5.12.5 Examples of Sequences ........................................................................................356 5.12.6 Parameters ............................................................................................................358 5.12.7 Block Diagram .....................................................................................................362 5.12.8 Adjustment ...........................................................................................................363

5.13 TORQUE TANDEM CONTROL FUNCTION (OPTIONAL FUNCTION) .... 364 5.13.1 Overview ..............................................................................................................364 5.13.2 Series and Editions of Applicable Spindle Software............................................365 5.13.3 System Configuration...........................................................................................366 5.13.4 I/O Signals (CNCPMC) ...................................................................................367 5.13.5 Examples of Sequences ........................................................................................369 5.13.6 Parameters ............................................................................................................373 5.13.7 Alarm and Status Error.........................................................................................376

5.14 MAGNETIC SENSOR METHOD SPINDLE ORIENTATION (OPTIONAL FUNCTION)............................................................................................... 377 5.14.1 Overview ..............................................................................................................377 5.14.2 Series and Editions of Applicable Spindle Software............................................377 5.14.3 System Configuration...........................................................................................377 5.14.4 I/O Signals (CNCPMC) ...................................................................................378 5.14.5 Examples of Sequences ........................................................................................378 5.14.6 Parameters ............................................................................................................378

5.15 SPINDLE BACKLASH ACCELERATION FUNCTION (OPTIONAL FUNCTION)............................................................................................... 383 5.15.1 Overview ..............................................................................................................383 5.15.2 Series and Editions of Applicable Spindle Software............................................383 5.15.3 Block Diagram .....................................................................................................383 5.15.4 Parameters ............................................................................................................384


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5.15.5 Example of Adjustment........................................................................................384 5.16 HIGH-SPEED SPINDLE ORIENTATION (OPTIONAL FUNCTION).......... 388

5.16.1 Overview ..............................................................................................................388 5.16.2 Series and Editions of Applicable Spindle Software............................................388 5.16.3 System Configuration...........................................................................................389 5.16.4 I/O Signals (CNCPMC) ...................................................................................391 5.16.5 Sequence...............................................................................................................392 5.16.6 List of Related Parameters....................................................................................395 5.16.7 Details of Related Parameters...............................................................................396 5.16.8 Spindle Data Used in Tuning ...............................................................................400 5.16.9 Tuning Procedure .................................................................................................401

5.17 MAGNETIC FLUX BOOST FUNCTION..................................................... 407 5.17.1 Overview ..............................................................................................................407 5.17.2 Series and Editions of Applicable Spindle Software............................................407 5.17.3 List of Related Parameters....................................................................................407 5.17.4 Details of Related Parameters...............................................................................408 5.17.5 Adjustment Procedure ..........................................................................................409

II. FANUC AC SPINDLE MOTOR i series

1 START-UP...........................................................................................417 1.1 START-UP PROCEDURE......................................................................... 417 1.2 SPINDLE SERIAL INTERFACE (OPTIONAL FUNCTION)........................ 417

1.2.1 Parameters Related to Spindle Serial Output .......................................................417 1.2.2 Automatic Spindle Parameter Initialization .........................................................417 1.2.3 Diagnosis (Diagnosis Screen)...............................................................................418 1.2.4 Alarm....................................................................................................................418

1.3 PARAMETERS RELATED TO DETECTORS............................................ 418 1.3.1 List of Parameters for Detectors...........................................................................418 1.3.2 Details of Parameters for Detectors......................................................................418 1.3.3 Typical Detector Configurations ..........................................................................418

2 EXPLANATION OF OPERATION MODES.........................................422 2.1 VELOCITY CONTROL MODE................................................................... 422

2.1.1 Start-up Procedure................................................................................................422 2.1.2 Overview ..............................................................................................................422 2.1.3 System Configuration...........................................................................................422 2.1.4 List of I/O Signals (CNCPMC)........................................................................422 2.1.5 Related Parameters ...............................................................................................422 2.1.6 Details of Related Parameters...............................................................................422 2.1.7 Troubleshooting ...................................................................................................422

2.2 POSITION CODER METHOD SPINDLE ORIENTATION (OPTIMUM ORIENTATION) (OPTIONAL FUNCTION) ................................................ 422 2.2.1 Start-up Procedure................................................................................................422 2.2.2 Overview ..............................................................................................................422 2.2.3 Transition from Conventional Method Orientation to Optimum Orientation ......423 2.2.4 Feature ..................................................................................................................423 2.2.5 Block Diagram .....................................................................................................423 2.2.6 System Configuration...........................................................................................423 2.2.7 Stop Position Specification Method .....................................................................425 2.2.8 I/O Signals (CNCPMC) ...................................................................................425 2.2.9 Examples of Sequences ........................................................................................425 2.2.10 Explanation of Operation .....................................................................................425


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2.2.11 Related Parameters ...............................................................................................425 2.2.12 Details of Related Parameters...............................................................................425 2.2.13 Adjustment Procedure ..........................................................................................425 2.2.14 Adjusting the Orientation Stop Position Shift Parameter.....................................425 2.2.15 Supplementary Descriptions.................................................................................425

2.3 RIGID TAPPING (OPTIONAL FUNCTION) ............................................... 426 2.3.1 Start-up Procedure................................................................................................426 2.3.2 Overview ..............................................................................................................426 2.3.3 System Configuration...........................................................................................426 2.3.4 List of I/O Signals (CNCPMC)........................................................................428 2.3.5 Sequence...............................................................................................................429 2.3.6 Related Parameters ...............................................................................................429 2.3.7 Details of Related Parameters...............................................................................429 2.3.8 Parameter Setting Procedure ................................................................................429 2.3.9 Adjustment Procedure ..........................................................................................429 2.3.10 Diagnosis (Diagnosis Screen)...............................................................................429 2.3.11 Alarm....................................................................................................................429

2.4 Cs CONTOURING CONTROL (OPTIONAL FUNCTION) ......................... 429 2.4.1 Start-up Procedure................................................................................................429 2.4.2 Overview ..............................................................................................................429 2.4.3 System Configuration...........................................................................................430 2.4.4 List of I/O Signals (CNCPMC)........................................................................431 2.4.5 Examples of Sequences ........................................................................................431 2.4.6 Velocity Loop Gains Override Function on Cs Contouring Control Mode .........431 2.4.7 Related Parameters ...............................................................................................431 2.4.8 Details of Related Parameters...............................................................................431 2.4.9 Diagnosis (Diagnosis Screen)...............................................................................433 2.4.10 Alarm....................................................................................................................433

2.5 SPINDLE SYNCHRONOUS CONTROL (OPTIONAL FUNCTION)........... 433 2.5.1 Start-up Procedure................................................................................................433 2.5.2 Overview ..............................................................................................................433 2.5.3 System Configuration...........................................................................................433 2.5.4 Explanation of Operation .....................................................................................437 2.5.5 I/O Signals (CNCPMC) ...................................................................................438 2.5.6 Examples of Sequences ........................................................................................438 2.5.7 Related Parameters ...............................................................................................438 2.5.8 Details of Related Parameters...............................................................................438 2.5.9 Number of Error Pulses in Spindle Synchronous Control....................................438 2.5.10 Specifying a Shift Amount for Spindle Phase Synchronous Control...................438 2.5.11 Diagnosis (Diagnosis Screen)...............................................................................438 2.5.12 Alarm....................................................................................................................438

2.6 SPECIFICATIONS COMMON TO ALL OPERATION MODES.................. 438 2.6.1 Overview ..............................................................................................................438 2.6.2 List of I/O Signals (CNCPMC)........................................................................438 2.6.3 Parameters ............................................................................................................438 2.6.4 Details of parameters............................................................................................439 2.6.5 Diagnosis (Diagnosis Screen)...............................................................................439

3 I/O SIGNALS (CNCPMC) ................................................................440 3.1 INPUT SIGNALS (PMCCNCSVSP).................................................... 440

3.1.1 List of Input Signals .............................................................................................440 3.1.2 Explanation of Input Signals ................................................................................440 3.1.3 Details of input signals .........................................................................................440

3.2 OUTPUT SIGNALS (SVSPCNCPMC)................................................ 440


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3.2.1 List of Output Signals...........................................................................................441 3.2.2 Explanation of Output Signals .............................................................................441 3.2.3 Details of Output Signals .....................................................................................441



5 FUNCTION DESCRIPTIONS ..............................................................443 5.1 INCRMENTAL COMMAND TYPE SPINDLE ORIENTATION (SPINDLE

ROTATION SPEED CONTROL) (OPTIONAL FUNCTION) ...................... 443 5.1.1 Overview ..............................................................................................................443 5.1.2 System Configuration...........................................................................................443 5.1.3 I/O Signals (CNCPMC) ...................................................................................445 5.1.4 Examples of Sequences ........................................................................................446 5.1.5 List of Related Parameters....................................................................................446 5.1.6 Details of Related Parameters...............................................................................446

5.2 CONVENTIONAL METHOD ORIENTATION (OPTIONAL FUNCTION).... 446 5.2.1 Overview ..............................................................................................................446 5.2.2 System Configuration...........................................................................................446 5.2.3 I/O Signals (CNCPMC) ...................................................................................449 5.2.4 Sequence...............................................................................................................449 5.2.5 List of Related Parameters....................................................................................449 5.2.6 Details of Related Parameters...............................................................................449 5.2.7 Adjusting the Orientation Stop Position Shift Parameter.....................................449 5.2.8 Calculating the Position Gain for Orientation ......................................................449 5.2.9 Calculating the Orientation Time .........................................................................449



5.5 HIGH-SPEED SPINDLE ORIENTATION (OPTIONAL FUNCTION).......... 452 5.5.1 Overview ..............................................................................................................452 5.5.2 System Configuration...........................................................................................452 5.5.3 I/O Signals (CNCPMC) ...................................................................................454 5.5.4 Sequence...............................................................................................................454 5.5.5 List of Related Parameters....................................................................................454 5.5.6 Details of Related Parameters...............................................................................454


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5.5.7 Spindle Data Used in Tuning ...............................................................................454 5.5.8 Tuning Procedure .................................................................................................454

III. FANUC AC SPINDLE MOTOR Ci series


1.2.1 Parameters Related to Spindle Serial Output .......................................................457 1.2.2 Automatic Spindle Parameter Initialization .........................................................457 1.2.3 Diagnosis (Diagnosis Screen)...............................................................................458 1.2.4 Alarm....................................................................................................................458




2.2 POSITION CODER METHOD SPINDLE ORIENTATION (OPTIONAL FUNCTION)............................................................................................... 477 2.2.1 Start-up Procedure................................................................................................477 2.2.2 Overview ..............................................................................................................477 2.2.3 Feature ..................................................................................................................477 2.2.4 System Configuration...........................................................................................478 2.2.5 Stop Position Specification Method .....................................................................478 2.2.6 I/O Signals (CNCPMC) ...................................................................................478 2.2.7 Examples of Sequences ........................................................................................479 2.2.8 Related Parameters ...............................................................................................479 2.2.9 Details of Related Parameters...............................................................................480 2.2.10 Adjusting the Orientation Stop Position Shift Parameter.....................................483


2.4 SPINDLE SYNCHRONOUS CONTROL (OPTIONAL FUNCTION)........... 498 2.4.1 Start-up Procedure................................................................................................498 2.4.2 Overview ..............................................................................................................498


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2.4.3 System Configuration...........................................................................................499 2.4.4 Explanation of Operation .....................................................................................499 2.4.5 I/O Signals (CNCPMC) ...................................................................................500 2.4.6 Examples of Sequences ........................................................................................500 2.4.7 Related Parameters ...............................................................................................500 2.4.8 Details of Related Parameters...............................................................................501 2.4.9 Number of Error Pulses in Spindle Synchronous Control....................................506 2.4.10 Specifying a Shift Amount for Spindle Phase Synchronous Control...................506 2.4.11 Diagnosis (Diagnosis Screen)...............................................................................506 2.4.12 Alarm....................................................................................................................507

2.5 SPECIFICATIONS COMMON TO ALL OPERATION MODES.................. 507 2.5.1 Overview ..............................................................................................................507 2.5.2 List of I/O Signals (CNCPMC)........................................................................507 2.5.3 Parameters ............................................................................................................510 2.5.4 Details of parameters............................................................................................512 2.5.5 Diagnosis (Diagnosis Screen)...............................................................................518

3 I/O SIGNALS (CNCPMC) ................................................................519 3.1 INPUT SIGNALS (PMCCNCSPMC) ................................................... 519

3.1.1 List of Input Signals .............................................................................................520 3.1.2 Explanation of Input Signals ................................................................................520 3.1.3 Details of Input Signals ........................................................................................520

3.2 OUTPUT SIGNALS (SPMCCNCPMC) ............................................... 521 3.2.1 List of Output Signals...........................................................................................521 3.2.2 Explanation of Output Signals .............................................................................522 3.2.3 Details of Output Signals .....................................................................................522



IV. FANUC BUILT-IN SPINDLE MOTOR BiS series


1.2.1 Parameters Related to Spindle Serial Output .......................................................530 1.2.2 Automatic Spindle Parameter Initialization .........................................................530 1.2.3 Automatic Setting of the Parameter for Specifying the PS Management Axis ....530 1.2.4 Diagnosis (Diagnosis Screen)...............................................................................530 1.2.5 Alarm....................................................................................................................530

1.3 PARAMETERS RELATED TO DETECTORS............................................ 531 1.3.1 List of Parameters for Detectors...........................................................................531 1.3.2 Details of Parameters for Detectors......................................................................531 1.3.3 Series and Editions of Applicable Spindle Software............................................531 1.3.4 Typical Detector Configurations ..........................................................................531

1.4 SUB MODULE SM..................................................................................... 533 1.4.1 Overview ..............................................................................................................533 1.4.2 Series and Editions of Applicable Spindle Software............................................533 1.4.3 Configuration .......................................................................................................533


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1.4.4 Related Parameters ...............................................................................................534 1.4.5 Stop Processing When a Sub Module SM Error Occurs ......................................534 1.4.6 Alarm and Status Error.........................................................................................535 1.4.7 Caution .................................................................................................................535

1.5 POLE POSITION DETECTION ................................................................. 537 1.5.1 Overview ..............................................................................................................537 1.5.2 Pole Position Detection Operation .......................................................................538 1.5.3 AMR Offset Function...........................................................................................540 1.5.4 I/O Signals (CNCPMC) ...................................................................................542 1.5.5 Related Parameters ...............................................................................................543 1.5.6 Sequence...............................................................................................................549 1.5.7 Causes of Spindle Alarm 65 .................................................................................550 1.5.8 Cautions................................................................................................................551



2.2 POSITION CODER METHOD SPINDLE ORIENTATION (OPTIMUM ORIENTATION) (OPTIONAL FUNCTION) ................................................ 560 2.2.1 Start-up Procedure................................................................................................560 2.2.2 Overview ..............................................................................................................560 2.2.3 Transition from Conventional Method Orientation to Optimum Orientation ......560 2.2.4 Feature ..................................................................................................................560 2.2.5 Block Diagram .....................................................................................................560 2.2.6 System Configuration...........................................................................................560 2.2.7 Stop Position Specification Method .....................................................................561 2.2.8 I/O Signals (CNCPMC) ...................................................................................561 2.2.9 Examples of Sequences ........................................................................................561 2.2.10 Explanation of Operation .....................................................................................561 2.2.11 Related Parameters ...............................................................................................561 2.2.12 Details of Related Parameters...............................................................................561 2.2.13 Tuning Procedure .................................................................................................562 2.2.14 Adjusting the Orientation Stop Position Shift Parameter.....................................562 2.2.15 Supplementary Descriptions.................................................................................562


2.4 Cs CONTOURING CONTROL (OPTIONAL FUNCTION) ......................... 573 2.4.1 Start-up Procedure................................................................................................573


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2.4.2 Overview ..............................................................................................................573 2.4.3 System Configuration...........................................................................................573 2.4.4 List of I/O Signals (CNCPMC)........................................................................574 2.4.5 Examples of Sequences ........................................................................................574 2.4.6 Velocity Loop Gains Override Function on Cs Contouring Control Mode .........574 2.4.7 Related Parameters ...............................................................................................574 2.4.8 Details of Related Parameters...............................................................................576 2.4.9 Adjusting Cs Contouring Control.........................................................................582 2.4.10 Diagnosis (Diagnosis Screen)...............................................................................582 2.4.11 Alarm....................................................................................................................582

2.5 SPINDLE SYNCHRONOUS CONTROL (OPTIONAL FUNCTION)........... 582 2.5.1 Start-up Procedure................................................................................................582 2.5.2 Overview ..............................................................................................................583 2.5.3 System Configuration...........................................................................................583 2.5.4 Explanation of Operation .....................................................................................584 2.5.5 I/O Signals (CNCPMC) ...................................................................................584 2.5.6 Examples of Sequences ........................................................................................584 2.5.7 Related Parameters ...............................................................................................585 2.5.8 Details of Related Parameters...............................................................................585 2.5.9 Number of Error Pulses in Spindle Synchronous Control....................................591 2.5.10 Specifying a Shift Amount for Spindle Phase Synchronous Control...................591 2.5.11 Diagnosis (Diagnosis Screen)...............................................................................591 2.5.12 Alarm....................................................................................................................591

2.6 SPECIFICATIONS COMMON TO ALL OPERATION MODES.................. 592 2.6.1 Overview ..............................................................................................................592 2.6.2 List of I/O Signals (CNCPMC)........................................................................592 2.6.3 Parameters ............................................................................................................595 2.6.4 Details of Parameters............................................................................................598 2.6.5 Diagnosis (Diagnosis Screen)...............................................................................608

3 I/O SIGNALS (CNCPMC) ................................................................609 3.1 INPUT SIGNALS (PMCCNCSP)......................................................... 609

3.1.1 List of Input Signals .............................................................................................610 3.1.2 Explanation of Input Signals ................................................................................610 3.1.3 Details of Input Signals ........................................................................................611

3.2 OUTPUT SIGNALS (SPCNCPMC)..................................................... 614 3.2.1 List of Output Signals...........................................................................................615 3.2.2 Explanation of Output Signals .............................................................................615 3.2.3 Details of Output Signals .....................................................................................616



4.2 MACHINE RESONANCE ELIMINATION................................................... 618 4.2.1 TCMD Filter.........................................................................................................618 4.2.2 Resonance Elimination Filter ...............................................................................618 4.2.3 Disturbance Input Function ..................................................................................619 4.2.4 Adaptive Resonance Elimination Filter................................................................619

4.3 AMPLITUDE RATIO/PHASE DIFFERENCE COMPENSATION FUNCTION................................................................................................................... 619


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5 FUNCTION DESCRIPTIONS ..............................................................620 5.1 SPEED RANGE SWITCHING CONTROL (OPTIONAL FUNCTION) ........ 620 5.2 SPINDLE SWITCHING CONTROL ........................................................... 620 5.3 INCRMENTAL COMMAND TYPE SPINDLE ORIENTATION (SPINDLE

ROTATION SPEED CONTROL) (OPTIONAL FUNCTION) ...................... 620 5.3.1 Overview ..............................................................................................................620 5.3.2 Series and Editions of Applicable Spindle Software............................................620 5.3.3 System Configuration...........................................................................................620 5.3.4 I/O Signals (CNCPMC) ...................................................................................621 5.3.5 Examples of Sequences ........................................................................................622 5.3.6 List of Related Parameters....................................................................................622 5.3.7 Details of Related Parameters...............................................................................622

5.4 CONVENTIONAL METHOD ORIENTATION (OPTIONAL FUNCTION).... 622 5.4.1 Overview ..............................................................................................................622 5.4.2 Series and Editions of Applicable Spindle Software............................................623 5.4.3 System Configuration...........................................................................................623 5.4.4 I/O Signals (CNCPMC) ...................................................................................624 5.4.5 Sequence...............................................................................................................624 5.4.6 List of Related Parameters....................................................................................624 5.4.7 Details of Related Parameters...............................................................................624 5.4.8 Adjusting the Orientation Stop Position Shift Parameter.....................................624 5.4.9 Calculating the Position Gain for Orientation ......................................................624 5.4.10 Calculating the Orientation Time .........................................................................624

5.5 SPINDLE ORIENTATION DURING SPINDLE SYNCHRONOUS CONTROL (OPTIONAL FUNCTION)........................................................................... 624 5.5.1 Overview ..............................................................................................................624 5.5.2 Series and Editions of Applicable Spindle Software............................................624 5.5.3 Specification.........................................................................................................625 5.5.4 I/O Signals (CNCPMC) ...................................................................................625 5.5.5 Sequence...............................................................................................................626 5.5.6 List of Related Parameters....................................................................................626 5.5.7 Details of Related Parameters...............................................................................627



5.8 SPINDLE EGB (SPINDLE ELECTRONIC GEAR BOX) (OPTIONAL FUNCTION)............................................................................................... 630 5.8.1 Overview ..............................................................................................................630 5.8.2 Series and Editions of Applicable Spindle Software............................................630


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5.8.3 System Configuration...........................................................................................631 5.8.4 Block Diagram .....................................................................................................632 5.8.5 I/O Signals (CNCPMC) ...................................................................................632 5.8.6 Examples of Sequences ........................................................................................633 5.8.7 List of Related Parameters....................................................................................633 5.8.8 Details of Related Parameters...............................................................................634 5.8.9 Diagnosis Signal Related to Spindle EGB ...........................................................634 5.8.10 Status Errors Related to Spindle EGB..................................................................634 5.8.11 Alarms ..................................................................................................................634

5.9 DIFFERENTIAL SPINDLE SPEED CONTROL ......................................... 634 5.10 DUAL POSITION FEEDBACK FUNCTION (OPTIONAL FUNCTION) ...... 634 5.11 SPEED TANDEM CONTROL FUNCTION (OPTIONAL FUNCTION)........ 635

5.11.1 Overview ..............................................................................................................635 5.11.2 Series and Editions of Applicable Spindle Software............................................635 5.11.3 System Configuration...........................................................................................635 5.11.4 I/O Signals (CNCPMC) ...................................................................................635 5.11.5 Examples of Sequences ........................................................................................635 5.11.6 Parameters ............................................................................................................636 5.11.7 Block Diagram for the Speed Tandem Operation ................................................636 5.11.8 Alarm and Status Error.........................................................................................636 5.11.9 Additional Information.........................................................................................636

5.12 TANDEM RESONANCE ELIMINATION (OPTIONAL FUNCTION) ........... 636 5.12.1 Overview ..............................................................................................................636 5.12.2 Series and Editions of Applicable Spindle Software............................................636 5.12.3 System Configuration...........................................................................................636 5.12.4 I/O Signals (CNCPMC) ...................................................................................636 5.12.5 Examples of Sequences ........................................................................................636 5.12.6 Parameters ............................................................................................................637 5.12.7 Block Diagram .....................................................................................................637 5.12.8 Adjustment ...........................................................................................................637

5.13 TORQUE TANDEM CONTROL FUNCTION (OPTIONAL FUNCTION) .... 637 5.14 MAGNETIC SENSOR METHOD SPINDLE ORIENTATION (OPTIONAL

FUNCTION)............................................................................................... 637 5.15 SPINDLE BACKLASH ACCELERATION FUNCTION (OPTIONAL

FUNCTION)............................................................................................... 637 5.15.1 Overview ..............................................................................................................637 5.15.2 Series and Editions of Applicable Spindle Software............................................638 5.15.3 Block Diagram .....................................................................................................638 5.15.4 Parameters ............................................................................................................638 5.15.5 Example of Adjustment........................................................................................638

5.16 HIGH-SPEED SPINDLE ORIENTATION (OPTIONAL FUNCTION).......... 638 5.16.1 Overview ..............................................................................................................638 5.16.2 System Configuration...........................................................................................638 5.16.3 I/O Signals (CNCPMC) ...................................................................................639 5.16.4 Sequence...............................................................................................................639 5.16.5 List of Related Parameters....................................................................................639 5.16.6 Details of Related Parameters...............................................................................639 5.16.7 Spindle Data Used in Tuning ...............................................................................639 5.16.8 Tuning Procedure .................................................................................................640


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V. FANUC SPINDLE MOTOR iIc series


1.2.1 Parameters Related to Spindle Serial Output .......................................................643 1.2.2 Spindle Parameter Initialization ...........................................................................644 1.2.3 Diagnosis (Diagnosis Screen)...............................................................................644 1.2.4 Alarm....................................................................................................................644



2.1.1 Start-up Procedure................................................................................................647 2.1.2 Overview ..............................................................................................................647 2.1.3 System Configuration...........................................................................................647 2.1.4 List of I/O Signals (CNCPMC)........................................................................647 2.

fanuc ac sindple motor αi , βi , built-in spindle … · fanuc built-in spindle motor bi series...

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